CN114789838A

CN114789838A - Bidding device, bidding system and control method of bidding device

Info

Publication number: CN114789838A
Application number: CN202210416516.9A
Authority: CN
Inventors: 张建刚; 汤爱军; 杨波
Original assignee: Fulian Yuzhan Technology Shenzhen Co Ltd
Current assignee: Fulian Yuzhan Technology Shenzhen Co Ltd
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2022-07-26

Abstract

The application provides a get mark device for obtain the label that printing device derived, get mark device and include: the label taking mechanism is arranged on one side of the label led out by the printing device and used for moving and taking the label; the label receiving mechanism is arranged on one side of the printing device for guiding out the label, and is arranged on two sides of the guided out label together with the label taking mechanism and used for receiving the label; and the controller is coupled with the label taking mechanism and the label receiving mechanism and is used for controlling the label receiving mechanism and the label taking mechanism to be matched so as to move and take the label. The application also correspondingly provides a bid taking system and a control method of the bid taking device. The label taking device has the advantages that the occupied space is small, the scanning printing and label taking processes can be realized, and the problem that the existing power transfer plate coating is worn and worn after being used for a long time and the label cannot be taken is not considered.

Description

Bid taking device, bid taking system and control method of bid taking device

Technical Field

The present application relates to the field of bidding technologies, and in particular, to a bidding device, a bidding system, and a control method for the bidding device.

Background

In the quality tracing scenario, it is required to build a database of information (producer, quality control, assembly, time, etc.) of each part in the production process to facilitate tracing when a problem occurs. In industrial production, a label is usually attached to a part, and information on the label corresponds to information on a database. Labels are often printed by a printer and eventually need to be applied to a workpiece. In addition to manual labeling, in order to improve the operation efficiency and reduce the Cycle Time (CT), the factory often adopts an automatic scheme. However, the current mainstream automation scheme has the technical problems of large occupied space of equipment, unsuitability for realizing scanning printing and label taking processes and labels, inaccurate label taking, low label taking success rate and inapplicability.

Disclosure of Invention

In view of the above situation, it is necessary to provide a target fetching device, a target fetching system and a control method for the target fetching device, so as to solve the technical problems of large occupied space of equipment, unsuitability for realizing scanning printing and target fetching processes and targets, inaccurate target fetching, low target fetching success rate and intolerance of the existing automation scheme.

The embodiment of the application provides a get mark device for obtain the label that printing device exported, get mark device and include: the label taking mechanism is arranged on one side of the label led out by the printing device and used for moving and taking the label; the label receiving mechanism is arranged on one side of the printing device for guiding out the label, and the label taking mechanism and the label receiving mechanism are arranged on two sides of the guided out label and are used for receiving the label; and the controller is coupled with the label taking mechanism and the label receiving mechanism and is used for controlling the label receiving mechanism and the label taking mechanism to be matched so as to move and take the label.

The embodiment of the application also provides a label taking system, which comprises a printing device and the label taking device.

The embodiment of the application further provides a control method of the label taking device, the label taking device comprises a label receiving mechanism and a label taking mechanism, the label taking mechanism and the label receiving mechanism are arranged on two sides of a label led out by the printing device, and the control method comprises the following steps: controlling the label receiving mechanism to apply a first acting force to a first label led out by the printing device; controlling the label taking mechanism to apply a second acting force on the first label; controlling the mark taking mechanism to move; and determining that the first label moves along with the label taking mechanism under the action of a second action force, and controlling the label taking mechanism to be far away from the label receiving mechanism.

The application provides a get mark device and get mark system connects mark mechanism and gets mark mechanism cooperation through controller control, connects mark mechanism to accept the label that printing device derived promptly, gets mark mechanism and moves and gets the label, realizes correctly moving of label and gets, and not only occupation space is little, and because one by one according to sequential to each label scan print with get the mark, need not to carry out the label buffer memory, also make and get mark more accurate. In addition, the problem that the label cannot be taken up due to abrasion of a coating after long-time use in the scheme of the power transfer plate does not need to be considered, so that the success rate of label taking is improved, and the label taking device is more durable.

The control method of the label taking device provided by the application is characterized in that the label taking mechanism is matched with the label taking mechanism through control, namely the label taking mechanism bears the derived labels, the label taking mechanism moves the labels, the labels are correctly moved and taken under the action of two acting forces, and because each label is scanned, printed and taken one by one sequentially, label caching is not needed, the label taking is more accurate, and the label taking success rate can be improved.

Drawings

Fig. 1 is a schematic view of an assembly structure of a marking device and a printing device provided in an embodiment of the present application.

Fig. 2 is a hardware architecture diagram of the tagging device in fig. 1.

Fig. 3 is a schematic perspective view of the label receiving mechanism in fig. 1.

Fig. 4 is a schematic perspective view of the target board in fig. 3.

Fig. 5 is a schematic perspective view of the marking mechanism in fig. 1.

Fig. 6 is a schematic perspective view of the tagging system of fig. 1.

Fig. 7 is a flowchart of a control method of a tagging device according to an embodiment of the present application.

Fig. 8 is a flowchart of a first embodiment of the control method in fig. 7.

FIG. 9 is a flow diagram of a further implementation of the control method of FIG. 8.

Fig. 10 is a flowchart of a second embodiment of the control method of fig. 7.

FIG. 11 is a flow diagram of a further implementation of the control method of FIG. 10.

Fig. 12 is a flowchart of a third embodiment of the control method in fig. 7.

FIG. 13 is a flow diagram of a further implementation of the control method of FIG. 12.

Fig. 14 is a flowchart of a fourth embodiment of the control method in fig. 7.

Description of the main elements

Label picking system 1

Label picking device 100

Label picking mechanism 10

Suction head 11

Suction surface 112

Adsorption hole 114

Driver 12

Fixing member 13

Connecting piece 14

Elastic member 15

Displacement member 16

Label receiving mechanism 20

Label receiving rack 22

Target plate 24

Receiving surface 242

Air blowing hole 244

Gas connector 246

Guide strip 248

Controller 30

Printing device 200

Fixed shaft 210

Main body 220

Stripping member 230

Rewind shaft 240

Label 300

Coil stock 400

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," longitudinal, "" lateral, "" length, "" width, "" thickness, "" upper, "" lower, "" front, "" rear, "" left, "" right, "" vertical, "" horizontal, "" top, "" bottom, "" inner, "" outer, "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to 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; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

In the quality tracing scenario, it is required to establish a database of information (producer, quality inspection, assembly, time, etc.) of each part in the production process, so as to facilitate tracing when a problem occurs. In industrial production, a label is usually attached to a part, and information on the label corresponds to information on a database. Labels are often printed by a printer and eventually need to be applied to a workpiece. For example, the raw material is attached with an old label formed by the previous process, the printer scans the old label by a self-contained or external scanning mechanism to know the condition of the raw material, then after confirming that the raw material is changed into clinker through a specific process, the information of the label is updated to form new information, the new information is printed on the new label by the printer, the new label is led out by an internal material belt in the printer, and the new label is attached to the clinker through a manual or other automatic scheme, and the process can be called a scanning printing and label taking process. The information here may be a two-dimensional code containing information on producer, quality control, assembly, time, and the like.

Except for the manual labeling mode, in order to improve the operation efficiency and reduce the CT, an automatic scheme is usually adopted by an intelligent factory. For example, the real-time scanning printing and labeling processes can concurrently process relatively independent events (e.g., concurrent processing of two processes of printing new labels and obtaining information that raw meal is processed into clinker according to process requirements), thereby reducing CT. The automatic mark-taking scheme mainly comprises three schemes through carding: the internal structure of the printer is adjusted by adding an external power transfer plate and an external label peeling mechanism.

The adjustment of the internal structure of the printer can change the force direction of the material belt bottom film in the printer, so that the discharging is unstable, the label can shift all around, the printing position of information on the label cannot be guaranteed, the marking success rate is affected, and the problem of non-standard maintenance of the printer can be caused after the change.

The power transfer plate with the external transfer is added, the printer is firstly attached to the power transfer plate after printing the export label, and then the printer is attached to the workpiece in a manual or other automatic mode. The power transfer plate is a transfer device which is attached to the label with the release film removed, and a coating is arranged at the attaching position, so that the power transfer plate can take out the label from the label stripping and labeling machine more easily. The problem of the inconvenient label peeling still occurs in the automatic scheme, because the coating of the power transfer plate is required to be more, especially the adhesive of the label needs to be prepared, the universality is poor, and the coating is abraded after long-time use, so that the label cannot be taken out.

Through increasing external label mechanism of shelling, can peel off the label that the printer printed out in batches usually, peel off through this mechanism label, increased equipment occupation of land space, and if there is the condition that the back work piece of scanning was taked away and is not reached labeling, the label appears with the work piece situation that does not correspond easily, is not suitable for realizing scanning and printing and get the mark process.

In conclusion, the existing automation scheme has the technical problems of large occupied space of equipment, unsuitability for realizing scanning printing and label taking processes and labels, inaccurate label taking, low label taking success rate and inapplicability.

The "successful bid rate" in this application may be defined as a probability that the tag derived by the tag obtaining device is successfully obtained, for example, the tag obtaining device derives 100 tags, and the tag obtaining device successfully obtains 90 tags, so that the successful bid rate is 90%, which may be considered approximately as 90% of the probability that the tag obtaining device successfully obtains one tag.

The application provides a get mark device for obtain the label that printing device derived, get mark device and include: the label taking mechanism is arranged on one side of the label led out by the printing device and used for moving and taking the label; the label receiving mechanism is arranged on one side of the printing device for guiding out the label, and the label taking mechanism and the label receiving mechanism are arranged on two sides of the guided out label and are used for receiving the label; and the controller is coupled with the label taking mechanism and the label receiving mechanism and is used for controlling the cooperation of the label receiving mechanism and the label taking mechanism to move and take labels.

The label taking system comprises the printing device and the label taking device.

The control method comprises the following steps: controlling the label receiving mechanism to apply a first acting force to a first label led out by the printing device; controlling the label taking mechanism to apply a second acting force on the first label; controlling the mark taking mechanism to move; and determining that the first label moves along with the label taking mechanism under the action of the second acting force, and controlling the label taking mechanism to be far away from the label receiving mechanism.

The utility model provides a get mark device and get mark system connects mark mechanism and gets the cooperation of mark mechanism through controller control, connects mark mechanism to accept the label of deriving promptly, gets mark mechanism and moves and gets the label, realizes correctly moving of label and gets, and not only occupation space is little, and because one by one according to the scanning of order each label print and get the mark, need not to carry out the label buffer memory, also make and get mark more accurate. In addition, the problem that the label cannot be taken due to abrasion of the coating after long-time use in the scheme of the power transfer plate does not need to be considered, so that the success rate of taking the label is improved, and the label is more durable.

The embodiments of the present application will be further described with reference to the drawings attached to the specification.

Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a label taking device 100, which is applied to automatically print labels on surfaces of components of electronic equipment and other label taking occasions, is used for obtaining labels 300 led out by a printing device 200, can directly take the labels 300 at the positions where the labels 300 are led out by the printing device 200 without changing the printing device 200, and can ensure the success rate of taking the labels 300. The electronic device is, for example, a mobile phone, a tablet, or the like. The label 300 is a printed matter printed by the printing apparatus 200, and the information printed on the label 300 is a two-dimensional code in this embodiment. The marking device 100 includes a marking mechanism 10, a marking mechanism 20, and a controller 30.

The label taking mechanism 10 is provided on the side of the printing apparatus 200 from which the label 300 is derived, and is used for removing the label 300. The label receiving mechanism 20 is provided on the side of the printing apparatus 200 from which the label 300 is drawn out, and is provided on both sides of the drawn-out label 300 together with the label taking mechanism 10, and receives the label 300. The controller 30 is coupled to the label taking mechanism 10 and the label receiving mechanism 20, and is used for controlling the label receiving mechanism 20 and the label taking mechanism 10 to cooperate to remove the label 300.

The label taking device 100 controls the label receiving mechanism 20 and the label taking mechanism 10 through the controller 30, so that the label receiving mechanism 20 receives the guided label 300, the label taking mechanism 10 takes the label 300, the label 300 can be correctly taken, the occupied space is small, and the scanning, printing and label taking processes can be realized. Because each label is scanned, printed and labeled one by one according to the sequence, label cache is not needed, and label taking is more accurate. In addition, the problem that the label 300 cannot be taken out due to abrasion of the coating of the conventional power transfer plate after long-time use is not required to be considered, so that the success rate of taking out the label is improved, and the label is more durable. In this embodiment, the controller 30 may be a computer, a microcomputer, a PLC, or the like, but is not limited thereto.

Referring to fig. 3, in some embodiments, the label receiving mechanism 20 includes a label receiving frame 22 and a label receiving plate 24, and the label receiving frame 22 is disposed on one side of the export label 300 of the printing apparatus 200, for example, in this embodiment, the label receiving frame 22 may be formed by connecting a plurality of plates, and mainly functions to support the label receiving plate 24. The label receiving plate 24 is disposed on the label receiving frame 22, referring to fig. 4, the label receiving plate 24 has a receiving surface 242 for receiving the label 300, a blowing hole 244 is disposed in the label receiving plate 24, one end of the blowing hole 244 is connected to the receiving surface 242, and the other end of the blowing hole 244 penetrates the other side of the label receiving plate 24 and is connected to an external blowing member (not shown) through a connector 246. Wherein the controller 30 is further used for controlling the blowing member to blow air towards the blowing hole 244 of the label receiving plate 24, so that the label 300 on the receiving surface 242 is blown up. The air blowing member is exemplified by an air pump that can be controlled by the controller 30.

In some embodiments, the label receiving mechanism 20 further includes at least two guide bars 248, the at least two guide bars 248 are disposed on the receiving surface 242 of the label receiving plate 24 at intervals and located around the blowing hole 244, a surface of the guide bar 248 contacting the label 300 protrudes from the receiving surface 242, and the guide bar 248 is used for guiding the label 300 guided out by the printing apparatus 200 onto the receiving surface 242 so that the label 300 covers the blowing hole 244. In the present embodiment, the number of the guide bars 248 is two, and the guide bars are oppositely disposed at two sides of the blowing hole 244. It is understood that in other embodiments, the number of the guide bars 248 may be three or four, but is not limited thereto, and may be specifically configured according to actual needs.

Referring to fig. 5, in some embodiments, the pick-up mechanism 10 includes a suction head 11 and a drive member 12.

The suction head 11 has a suction surface 112, the suction surface 112 is disposed opposite to the receiving surface 242 when the suction head 11 transfers the label 300, a suction hole 114 is formed in the suction head 11, one end of the suction hole 114 penetrates through the suction surface 112, and the other end of the suction hole 114 penetrates through the other side of the suction head 11. The suction hole 114 may be connected with a vacuum generator to generate a negative pressure at the suction hole 114 by the vacuum generator to suck the label 300. The driving member 12 is connected to the suction head 11 and coupled to the controller 30 for driving the suction head 11 to move toward or away from the target 24. Illustratively, in this embodiment, the driver 12 is a cylinder.

In some embodiments, the marking mechanism 10 further includes a fixing member 13, a connecting member 14, and an elastic member 15.

The fixed member 13 is connected to the power end of the driving member 12. The connecting part 14 penetrates through the fixing part 13, one end of the connecting part 14 is connected with the suction head 11, the other end of the connecting part 14 is used for stopping the fixing part 13, and the connecting part 14 can move in the vertical direction relative to the fixing part 13. Connecting piece 14 is located to elastic component 15 cover, and the one end butt mounting 13 of elastic component 15, the other end butt suction head 11 of elastic component 15 for make suction head 11 remove in predetermineeing the within range, when driving piece 12 drive suction head 11 is close to and connects mark board 24 and suction head 11 needs and label 300 contact, the setting of elastic component 15 can guarantee that suction head 11 elasticity butt connects mark board 24, prevents the problem of excessive pressure to appear between the two. Illustratively, in this embodiment, the elastic member 15 is a spring.

In some embodiments, the label taking mechanism 10 further comprises a displacement member 16, the displacement member 16 is connected to the driving member 12 and coupled to the controller 30 for driving the driving member 12 to move to adjust the position of the suction head 11, so that the suction head 11 is opposite to the label receiving plate 24, i.e. the suction surface 112 is opposite to the receiving surface 242. Illustratively, in this embodiment, the displacement member 16 is a rotary cylinder.

In this embodiment, the number of the driving parts 12 is two, and the two driving parts are arranged oppositely, it can be understood that the number of the suction heads 11 is two, and the two suction heads 11 are respectively connected with the two driving parts 12, and the two driving parts 12 are respectively connected with the displacement part 16, so that the displacement part 16 can drive one suction head 11 to rotate 180 degrees, and then the suction head 11 at the other end can continuously suck the next label 300, and further the suction efficiency of the label 300 is improved.

In some embodiments, the label taking mechanism 10 further comprises a force sensor (not shown) disposed on the suction head 11 and coupled to the controller 30 for sensing a force applied to the suction head 11 based on the label 300 removed by the suction head 11, so as to prevent an over-pressure or under-pressure problem between the suction head 11 and the label taking plate 24. The force sensor can be a patch type sensor for sensing deformation and converting the deformation into force, and can also be a sensor for sensing reaction force on the driving part. In addition, the force sensor data may be stored in a database as an indication of the subsequent tip 11 movement position or squeezing force.

The above described label taking device 100 can take the label 300 by two ways:

the first moving mode is as follows: firstly, the displacement piece 16 drives the driving piece 12 to rotate, so that the suction head 11 is moved to be opposite to the label receiving plate 24; then the driving member 12 drives the suction head 11 to move towards the label receiving plate 24 to a predetermined position, which is only required to prevent the label 300 from transferring to the label receiving plate 24, and then the suction holes 114 generate a suction force, and the controller 30 controls the blowing member to blow gas towards the blowing holes 244 of the label receiving plate 24, so as to provide a thrust force in the same direction or approximately the same direction as the suction force. The printing device 200 peels off the label 300, and in the process of peeling off the label 300, the gas blown from the gas blowing hole 244 blows the label 300 to the adsorption surface 112 tightly attached to the suction head 11 to move until the label 300 is completely peeled off; the driving member 12 and the displacing member 16 then cooperate to drive the suction head 11 to move the label 300 to another position for a subsequent labeling process.

The second moving mode is as follows: the printing device 200 firstly peels the label 300 off the bearing surface 242 of the label bearing plate 24 and covers the air blowing hole 244, and the guide strip 248 guides the label 300 in the process; then the displacement member 16 drives the driving member 12 to rotate so that the suction head 11 moves to be opposite to the label joint plate 24, and the driving member 12 drives the suction head 11 to move towards the label joint plate 24 and enables the suction head 11 and the label 300; then, the suction hole 114 generates a suction force, and the controller 30 controls the blowing member to blow the gas toward the blowing hole 244 of the label plate 24, so as to provide a thrust force in the same direction or approximately the same direction as the suction force; the driving member 12 and the displacing member 16 then cooperate to drive the suction head 11 to move the label 300 to another position for a subsequent labeling process.

Referring to fig. 6, the embodiment of the present application further provides a tagging system 1, which includes a printing apparatus 200 and the tagging apparatus 100 as described above. It is to be understood that only a partial structure of the printing apparatus 200 is shown in fig. 6 for clarity of showing the internal structure of the printing apparatus 200.

In some embodiments, the printing device 200 includes a stationary shaft 210, a main body 220, and a stripper 230.

The fixed shaft 210 is used for placing the roll material 400 provided with the label 300; the main body 220 is disposed on one side (left side in fig. 6) of the fixed shaft 210, and is configured to receive the roll material 400 led out from the fixed shaft 210 and print information to the label 300, where the information may be characters or patterns, and the information in this embodiment is a two-dimensional code pattern; the stripping member 230 is provided on one side (left side in fig. 6) of the main body 220, and is configured to receive the roll material 400 from the main body 220 and to guide out the label 300 on which information has been printed on the roll material 400.

In some embodiments, the position of the label 300 guided out by the stripping member 230 is higher than the position of the label receiving mechanism 20 in the gravity direction, so that the label 300 stripped by the printing device 200 can be guaranteed to be received by the receiving surface 242 of the label receiving plate 24.

In some embodiments, the printing device 200 further comprises a rewind shaft 240, the rewind shaft 240 being disposed below the body 220 for receiving the web 400 from the body 220 and providing force to the stripping member 230 to direct the labels 300. In use, the rewind reel 240 may provide power to pull the web 400 on the stationary shaft 210 into motion, and the stripper member 230 may strip the labels 300 from the web 400 upon reaching the stripper member 230 after the labels 300 have passed the main body 220 and been printed with information.

So, through printing device 200 and get mark device 100's cooperation, realize the correct removal of label and get, not only occupation space is little, and because scan printing and get mark each label according to order one by one, need not to carry out label buffer memory, also make and get mark more accurate, in addition, need not consider the problem that cladding material wear and tear and lead to the label to get not got after using for a long time in the power transfer board scheme, and then improve and get mark success rate, also more durable.

Referring to fig. 7, an embodiment of the present application further provides a method for controlling a tagging device, which is exemplary, the tagging device is the tagging device 100 described in fig. 1 to 6, and may be another tagging device, but is not limited thereto. The label taking device 100 comprises a label receiving mechanism 20 and a label taking mechanism 10, the label taking mechanism 10 and the label receiving mechanism 20 are arranged on two sides of a label led out by the printing device 200, and the control method comprises the following steps:

s510, the label receiving mechanism 20 is controlled to apply a first force to the first label derived from the printing apparatus 200.

Wherein, first effort can be for connecing mark mechanism 20 to the bearing capacity of first label, and the bearing capacity can be produced by label self gravity, also can be for connecing mark mechanism 20 to blow towards the thrust that marks mechanism 10 produced, still can be for the combined force that bearing capacity and thrust combine, bearing capacity and thrust syntropy, specifically can set up according to actual need.

And S520, controlling the marking mechanism 10 to apply a second acting force to the first label.

The second acting force may be an adsorption force of the label taking mechanism 10 to the first label, or may also be a clamping force to the first label, but is not limited to this, as long as the first label can be moved, for convenience of description, the adsorption force is taken as an example hereinafter, but it should not be limited that the adsorption force is only adopted as the only solution in the present application.

It is understood that the execution sequence of steps S510 and S520 may be executed synchronously, and of course, steps S510 and S520 may also be executed sequentially, i.e., the present application does not limit the execution sequence of steps S510 and S520.

And S530, controlling the marking mechanism 10 to move.

The main function of controlling the movement of the label taking mechanism 10 includes determining whether the label is captured, for example, the label can move upward for a preset or arbitrary distance, or move away from the plane of the label receiving mechanism 20 for a preset or arbitrary distance, but is not limited thereto. The determination method may be manual visual and feedback, or may be determined according to the change of the correlation value in the indexing mechanism 10. For example, when the label is not picked up, the air pressure for the label picking mechanism 10 including the tip 11 to provide the suction force is a first air pressure, and after the label picking, the air pressure for the tip 11 to provide the suction force is a second air pressure due to the blockage of the first label, and the correlation value is an air pressure value. It can be determined that when the marking mechanism 10 is controlled to move so that the marking mechanism 10 is offset from the marking mechanism 20, the effect of the marking mechanism 20 is eliminated, and at this time, if the air pressure for providing the suction force by the suction head 11 is still the second air pressure, it can be determined that the first label is obtained, and otherwise, the first label is not sucked.

And S540, determining that the first label moves along with the mark taking mechanism 10 under the action of the second action force, and controlling the mark taking mechanism 10 to be far away from the mark receiving mechanism 20.

When the first label moves along with the label taking mechanism 10, that is, the first label is moved, the label taking mechanism 10 is controlled to move away from the label receiving mechanism 20, so as to move the first label to another position for the subsequent labeling process. The labeling process may be performed by manually or automatically pressing the adhesive side of the label onto the workpiece, which is not described in detail herein.

In some embodiments, the label taking mechanism 10 comprises a suction head 11, the suction head 11 can be connected with a negative pressure generator, and the suction head 11 is provided with a suction surface 112 for sucking the label.

For some situations where the label is easier to pick up, the suction surface 112 of the suction head 11 need not be in contact with the label, but rather can be spaced from the label to enable the label to be successfully sucked up. Referring to fig. 8, the control method further includes:

s531, controlling the index taking mechanism 10 to move so as to enable the adsorption surface 112 of the suction head 11 to move to an index taking position;

s532, controlling the sucker 11 to apply a second acting force to the first label at the label taking position.

In the above embodiment, the second acting force may be the adsorption force of the suction head 11 on the first label, the adsorption force is generated by the suction head 11 connected to the negative pressure generator, and when the negative pressure generator is turned on, the suction surface 112 of the suction head 11 moved to the label taking position generates a negative pressure, so that the suction head 11 adsorbs the first label, and in the process, the first label peeled off by the printing device 200 can move along the position close to the adsorption surface 112 of the suction head 11 until the first label is completely adsorbed by the adsorption surface 112.

In some embodiments, the index position is 0.3mm to 0.5mm above the first label derived by the printing device 200. Thus, the first label can be ensured to be positioned below the suction head 11 in the stripping process, so that the suction head 11 can adsorb the first label, and the first label can move along the adsorption surface 112 of the suction head 11 in the stripping process, thereby realizing the label taking of the suction head 11 when the first label is suspended. If the marking position is more than 0.5mm above the first label derived from the printing apparatus 200, the marking may also be achieved by adjusting the adsorption force provided by the suction head 11, but the marking is not limited thereto, but experiments show that exceeding 0.5mm may reduce the success rate of marking, and that being less than 0.3mm may easily cause the suction head 11 to interfere with the label receiving mechanism 20 or other mechanisms.

Further, in some embodiments, to improve the marking success rate, the marking mechanism 20 may also be made to provide a combination of bearing force and pushing force. Specifically, the label receiving mechanism 20 includes a label receiving plate 24, the label receiving plate 24 has a receiving surface 242 for receiving the first label, a blowing hole 244 is formed in the label receiving plate 24, one end of the blowing hole 244 is connected to the receiving surface 242, the other end of the blowing hole 244 penetrates through the label receiving plate 24 and is communicated with a blowing member, and the blowing member is connected to an air source. The receiving surface 242 provides load bearing capacity for the label. Referring to fig. 9, the control method further includes:

and S533, controlling the blowing hole 244 to blow air to the first label to apply a third acting force.

And S534, determining that the first label moves along with the mark taking mechanism 10 under the action of the second acting force and the third acting force, and controlling the mark taking mechanism 10 to be far away from the mark receiving mechanism 20.

In the above embodiment, the first acting force is the bearing force of the bearing surface 242 on the first label, the third acting force is the pushing force generated by blowing air towards the first label through the air blowing hole 244, the pushing force is generated through the label connecting plate 24 connected with the air blowing piece, when the label taking device is used, the air source is opened, air can enter the air blowing hole 244 from the air blowing piece and blow air to the first label, so that the first label is tightly attached to the adsorption surface 112 of the suction head 11, the first label can be prevented from falling off when moving on the adsorption surface 112, and the situation that the surface of the first label with viscosity is adhered to the label connecting plate 24 and is difficult to separate can be avoided, and the label taking success rate is influenced.

In some embodiments, a force sensor may be provided at the pipette tip 11, and in use, data is obtained each time the pipette tip 11 is brought into contact with a tag, for example, pressure data detected by pressing down the tag, the pressure data including a pressure position and a pressure magnitude at the corresponding position; then, counting the corresponding marking success rate of each group of pressure data; and then adjusting the pressure data of the follow-up suction head 11 according to the priority of the mark taking success rate so as to improve the follow-up mark taking success rate.

For some situations where the labels cannot be picked up easily, for example, a certain batch of labels is heavy, the gravity of the labels exceeds the suction force generated when the suction head is suspended on the labels, so that the labels cannot be sucked by the suction head 11. One solution at this time is to increase the success rate of label retrieval by providing a more concentrated suction force through the suction surface 112 of the tip 11 in direct contact with the label. Referring to fig. 10, the control method further includes:

S531A, the label taking mechanism 10 is controlled to move, so that the sucker 11 moves towards the label mechanism 20 and contacts with the first label.

S532A, controlling the suction head 11 to apply a second force to the first label.

Wherein, the second effort is the suction force of suction head 11 to first label, this suction force accessible is produced with the suction head 11 that negative pressure generator is connected, during the use, through making the suction head 11 of getting mark mechanism 10 remove towards connecing mark mechanism 20, make the absorption face 112 contact first label of suction head 11, open negative pressure generator after that, make the absorption face 112 department of suction head 11 produce the negative pressure, thereby make the absorption face 112 of suction head 11 adsorb first label, so, mutually support through second effort and third effort, can improve and get mark success rate.

In some embodiments, the label attaching mechanism 20 includes the label attaching plate 24, the label attaching plate 24 has a receiving surface 242 for receiving the first label, a blowing hole 244 is formed in the label attaching plate 24, one end of the blowing hole 244 is connected to the receiving surface 242, and the other end of the blowing hole 244 penetrates through the label attaching plate 24 and is communicated with the blowing member; referring to fig. 11, the control method further includes:

S533A, blowing the first label through the blowing hole 244 to apply a third force.

S534A, determining that the first label has moved along with the marking mechanism 10 under the action of the second acting force and the third acting force, and controlling the marking mechanism 10 to move away from the marking mechanism 20.

In the above embodiment, the third acting force is the pushing force provided by the blowing hole 244 towards the first label, the pushing force is generated through the label receiving plate 24 connected with the blowing member, in use, the air source is opened, air can enter the blowing hole 244 from the blowing member and blow the first label, so that the first label is tightly attached to the adsorption surface 112 of the suction head 11, thus, under the action of the second acting force and the third acting force, the first label can be ensured to be removed, the first label can be prevented from falling off from the adsorption surface 112 in the removing process, and the situation that the sticky surface of the first label is stuck on the label receiving plate 24 and is difficult to separate, and the label removing success rate is affected can also be avoided.

In some embodiments, to ensure that the success rate of tagging can reach 100% or approach 100%, it is also necessary to re-fetch tags that were not successfully fetched. For example, a process in which a first label is not transferred is referred to as a first process, and a subsequent process in which the first label is transferred is referred to as a second process, the first process may be a process in which the first label is transferred by the suction surface 112 of the suction head 11 being spaced from the first label, or a process in which the first label is transferred by the suction surface 112 of the suction head 11 being in direct contact with the first label, and when the second process is performed, the first process needs to be optimized, so that the first label that is not transferred can be successfully transferred, and the success rate of the label transfer can be ensured to reach 100% or approach 100%. Referring to fig. 12, the control method further includes:

and S531B, determining that the first label does not move along with the marking mechanism 10 under the action of the second acting force.

And S532B, controlling the marking mechanism 10 to move based on the fact that the first label does not move along with the marking mechanism 10 under the action of the second acting force, so that the sucker 11 moves towards the marking mechanism 20 and is in contact with the first label.

S533B, the suction head 11 is controlled to apply a fourth force to the first label, the fourth force being greater than the second force.

And S534B, controlling the marking mechanism 10 to move.

S535B, determining that the first label has moved along with the label taking mechanism 10 under the action of the fourth acting force, and controlling the label taking mechanism 10 to move away from the label receiving mechanism 20.

In the above embodiment, the second acting force is an adsorption force on the first label, and since the adsorption force is smaller than the self gravity of the first label, the first label cannot be adsorbed, so that the suction head 11 is made to contact with the first label (for example, the suction head 11 is controlled to contact with the first label by pressing down), so that the adsorption surface 112 of the suction head 11 contacts with the first label, and then a fourth acting force larger than the second acting force is applied to the suction head 11, so as to improve the mark picking success rate.

The suction surface 112 of the suction head 11 is not in contact with the first label, so that one-step action, namely the action of the suction head 11 in contact with the first label, can be reduced, and if the first label can be successfully sucked, the label taking efficiency can be improved on the basis of meeting the label taking success rate. However, when the mode that the suction surface 112 of the suction head 11 is not in contact with the first tag cannot satisfy the success rate of label picking, the suction surface 112 of the suction head 11 is still required to be in contact with the first tag, so that the suction surface 112 of the suction head 11 is in contact with the first tag, thereby increasing the success rate of label picking. If the suction surface 112 of the suction head 11 still cannot successfully pick up the label when contacting the first label, the suction head 11 needs to be adjusted to apply a fourth acting force which is greater than the second acting force, so that the success rate of picking up the label is improved under the combined action of the contact between the suction surface 112 of the suction head 11 and the first label and the larger suction force. In order to save the number of times of adjustment, the success rate of label picking can be improved under the combined action of the contact between the adsorption surface 112 of the suction head 11 and the first label and the larger adsorption force under the condition that the mode that the adsorption surface 112 of the suction head 11 is not in contact with the first label cannot meet the success rate of label picking.

Further, the label receiving mechanism 20 includes a label receiving plate 24, the label receiving plate 24 has a receiving surface 242 for receiving the first label, a blowing hole 244 is formed in the label receiving plate 24, one end of the blowing hole 244 is connected to the receiving surface 242, and the other end of the blowing hole 244 penetrates through the label receiving plate 24 and is communicated with a blowing member; referring to fig. 13, after the label picking process of the first label is completed, the next label, i.e. the second label, needs to be picked, and in order to optimize the control method, the experience of the label picking process of the first label needs to be used for reference in the label picking process of the second label. For this purpose, the control method further includes:

S536B, the labeling mechanism 20 is controlled to apply a fifth force to the second label derived from the printing apparatus 200.

The second label is a label derived by the printing apparatus 200 after the first label. The fifth acting force may be a bearing force or a pushing force of the blowing hole 244 toward the second label, which is generated by the label receiving plate 24 connected to the blowing member. The value of the fifth acting force can be the same as that of the first acting force, or the value of the composite force of the first acting force and the third acting force can be the same or different.

And S537B, controlling the index picking mechanism 10 to apply a sixth acting force to the second label, wherein the value of the sixth acting force is equal to the value of the fourth acting force.

Wherein the sixth acting force is an adsorption force to the second label, which is generated by the suction head 11 connected to the negative pressure generator. In some embodiments, the value of the sixth force is equal to the value of the fourth force, that is, the initial value of the attraction of the sucker 11 to the second label is the value of the attraction for successfully picking up the first label, so that the historical experience can be reused, and the successful rate of the label picking and the efficiency of the label picking can be both achieved.

And S538B, controlling the mark taking mechanism 10 to move.

S539B, it is determined that the second label does not move with the marking mechanism 10 under the sixth force.

When the second label does not move along with the label taking mechanism 10, it indicates that the suction force of the suction head 11 to the second label is smaller than the gravity of the second label under the action of the sixth acting force, and the second label cannot be sucked. That is, the second label cannot be successfully sucked by the empirical value of the fourth force at the time of successfully sucking the first label, when the suction surface 112 of the suction head 11 is spaced apart from the second label by a predetermined distance.

And S540B, controlling the marking mechanism 10 to move based on the fact that the second label does not move along with the marking mechanism 10 under the action of the sixth acting force, so that the sucker 11 moves towards the marking mechanism 20 and is in contact with the second label.

Since the suction in step S539B was not successful, contacting the suction head 11 with the second label brings the suction head 11 into contact with the second label, in a process similar to the label picking process when the suction surface 112 of the suction head 11 is brought into contact with the first label.

S541B, controlling the sucker 11 to apply a seventh acting force to the second label, wherein the seventh acting force is larger than the sixth acting force.

Again, an attempt is made to see if the second label can be picked up by contacting the cleaner head 11 with the second label by a seventh force and contacting the cleaner head 11 with the second label.

And S542B, controlling the marking mechanism 10 to move.

S543B, determining that the second label has moved along with the mark taking mechanism 10 under the action of the seventh acting force, and controlling the mark taking mechanism 10 to move away from the mark receiving mechanism 20.

And S544B, adjusting the sucker 11 to apply an eighth force to the subsequent label according to the fourth force and the seventh force, wherein the eighth force is between the fourth force and the seventh force.

In the above embodiment, the success rate of the second label taking and marking can be ensured to be 100% under the seventh force and the effect of contacting the suction head 11 with the second label and contacting the suction head 11 with the second label. Further, the eighth acting force can be applied to the subsequent label by adjusting the suction head 11, the eighth acting force is between the fourth acting force and the seventh acting force, for example, by using a bisection method, the value of the acting force with the highest marking success rate can be gradually approached, the marking efficiency and the marking success rate are considered, and the equipment is further durable and not easy to damage.

For example, the value of the fifth acting force is the same as the value of the combined force of the first acting force and the third acting force, and the variable of the label receiving mechanism 20 is controlled, so that the label taking mechanism 10 realizes the reuse of historical experience according to data generated in the historical label taking process, and considers the success rate of label taking and the efficiency of label taking. The value of the fourth acting force and the value of the sixth acting force are both 10N exemplarily, the value of the seventh acting force is 12N exemplarily, the second label is determined not to move along with the label taking mechanism 10 under the action of the value of the sixth acting force being 10N, the label taking mechanism 10 is controlled to move, so that the suction head 11 moves towards the label taking mechanism and is in contact with the second label, the suction surface 112 of the suction head 11 is in contact with the second label, the suction head 11 is controlled to apply the seventh acting force on the second label, the label taking mechanism 10 is controlled to move, the second label is determined to move along with the label taking mechanism 10 under the action of the seventh acting force being 12N, and the label taking mechanism 10 is controlled to be far away from the label taking mechanism. To this end, when the suction force of the suction head 11 to the label is provided, the subsequent label may determine an eighth force, for example, a median value 11N between the value of the fourth force and the value of the seventh force, as an initial value of the suction force of the suction head 11 to the subsequent label, based on the value of the fourth force and the value of the seventh force, which are defaulted as the condition that the suction surface 112 of the suction head 11 is not in contact with the subsequent label. In this way, the scaling mechanism 10 can more accurately adjust the current scaling process, for example, set the eighth acting force to 11N, according to the data generated in the historical scaling process, for example, the value of the fourth acting force and the value of the seventh acting force. Through such iterative process many times, realize on the basis that each label can both get mark success, can also optimize gradually and get mark mode, for example get 5 th label and can both preferentially adopt suction head 11 and current label to have under the circumstances of certain interval afterwards, successfully absorb current label, finally compromise and get mark efficiency and get mark success rate, also can make equipment durable more not fragile.

To further improve the successful mark-up rate, in some embodiments, the force of the mark-receiving mechanism 20 on the mark-up process is also taken into consideration for optimizing the mark-up process, please refer to fig. 14, the control method further includes:

and S531C, determining that the first label does not move along with the marking mechanism 10 under the action of the second acting force.

S532C, blowing air through the blowing hole 244 to the first label to apply a ninth acting force based on the first label not moving with the label taking mechanism 10 under the second acting force, the ninth acting force being greater than the first acting force.

So, ninth effort is the combined force that bearing capacity and thrust combine, can let the label receive with second effort syntropy or approximate syntropy's power, and then improves and get mark success rate.

S535C, the mark taking mechanism 10 is controlled to move.

S536C, determining that the first label has moved along with the marking mechanism 10 under the second acting force and the ninth acting force, and controlling the marking mechanism 10 to move away from the marking mechanism 20.

In the above-described embodiment, the second force is the attractive force to the first label, which cannot be picked up at a distance from the attraction face 112 of the cleaner head 11, or when the first label is in contact with the attraction face 112 of the cleaner head 11, because the attractive force is less than the weight of the first label itself. Therefore, in the present embodiment, the success rate of the targeting is improved by the combined action of the second acting force and the ninth acting force. For example, the ninth force may be such that the first label can be pushed into contact with the suction surface 112 of the cleaner head 11, thereby completing the label picking process. In addition, in this embodiment, the successful label picking can be realized by concentrating the adsorption force not by contacting the adsorption surface 112 of the suction head 11 with the first label in some of the above embodiments, but by increasing the thrust of the label receiving mechanism 20, the adsorption surface 112 of the suction head 11 is contacted with the first label, so that the step of controlling the approach of the suction head 11 towards the first label can be saved. If successful targeting still fails after steps S531C to S536C, it is still necessary to increase the suction force of the nozzle 11, one of which is referred to as steps S533B to S535B.

This application get mark device 100 and get mark system 1, through controller 30 control connect mark mechanism 20 and get mark mechanism 10 cooperation, connect mark mechanism 20 to accept the label that printing device 200 derived promptly, get mark mechanism 10 and move and get the label, realize moving of label and get, not only occupation space is little, and because one by one according to the scanning of order each label print and get the mark, need not to carry out label buffer memory, also make to get mark more accurate. In addition, the problem that the label cannot be taken up due to abrasion of a coating after long-time use in the scheme of the power transfer plate does not need to be considered, so that the success rate of label taking is improved, and the label taking device is more durable.

According to the control method of the label taking device, the label receiving mechanism 20 is controlled to be matched with the label taking mechanism 10, namely the label receiving mechanism 20 receives labels led out by the printing device 200, the label taking mechanism 10 moves the labels, correct moving and taking of the labels are achieved, and because each label is scanned, printed and taken one by one sequentially, label caching is not needed, the label taking is more accurate, and the label taking success rate can be improved.

In addition, the control method of the bid taking device can also give consideration to the bid taking success rate and the bid taking efficiency according to the reuse of the history experience, and intelligently selects the bid taking process, for example, one of the bid taking processes is selected to carry out bid taking:

the 1 st process: the suction surface 112 of the suction head 11 is not required to contact with the label, but is spaced from the label for label reading, and when the label reading is not successful, the suction force of the suction head 11 to the label is increased.

The 2 nd process: the suction surface 112 of the suction head 11 is in direct contact with the label to provide a more concentrated suction force, and when the label cannot be successfully picked up, the suction force of the suction head 11 to the label is increased.

And 3, process: and when the 1 st process cannot be successfully indexed, switching to the 2 nd process.

And 4, a process: when the 1 st process cannot be successfully picked, the pushing force of the blowing hole 244 to blow toward the label is increased.

In the 5 th process, when the 2 nd process cannot be successfully picked, the thrust of the blowing hole 244 blowing toward the label is increased.

And finally, realizing consideration of the bid taking success rate and the bid taking efficiency through multiple iterations according to historical experiences.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A label taking apparatus for taking a label derived from a printing apparatus, the label taking apparatus comprising:

the label taking mechanism is arranged on one side of the printing device for guiding the label and is used for moving and taking the label;

the label receiving mechanism is arranged on one side of the printing device for guiding the label out, and is arranged on two sides of the guided label with the label taking mechanism and used for receiving the label; and

and the controller is coupled with the label taking mechanism and the label receiving mechanism and is used for controlling the label receiving mechanism and the label taking mechanism to be matched so as to move and take the label.

2. The marking apparatus of claim 1, wherein the marking mechanism comprises:

the label receiving plate is provided with a receiving surface for receiving the label, a blowing hole is formed in the label receiving plate, and one end of the blowing hole is connected with the receiving surface;

the controller is also used for controlling the air blowing piece to blow air to the air blowing hole of the label receiving plate so as to blow up the label on the label receiving surface.

3. The tagging device recited in claim 2, wherein said tagging mechanism further comprises:

the label receiving plate is provided with at least two guide strips, the guide strips are arranged on the receiving surface of the label receiving plate at intervals and are positioned on the periphery of the air blowing holes, and the label receiving plate is used for guiding the labels led out by the printing device to the receiving surface so that the labels cover the air blowing holes.

4. The tagging device of claim 2, wherein said tagging mechanism comprises:

the suction head is provided with an adsorption surface which can be arranged opposite to the receiving surface when the label is moved by the suction head, an adsorption hole is formed in the suction head, and one end of the adsorption hole penetrates through the adsorption surface to adsorb the label;

and the driving piece is connected with the suction head, is coupled with the controller and is used for driving the suction head to be close to or far away from the target connection plate.

5. The marking device according to claim 4, wherein the marking mechanism further comprises:

the fixing piece is connected with the driving piece;

the connecting piece penetrates through the fixing piece, one end of the connecting piece is connected with the suction head, and the other end of the connecting piece is used for blocking the fixing piece;

the elastic piece is sleeved on the connecting piece, one end of the elastic piece is abutted to the fixing piece, and the other end of the elastic piece is abutted to the suction head and used for enabling the suction head to move within a preset range.

6. The tagging device of claim 4, wherein said tagging mechanism further comprises:

and the displacement piece is connected with the driving piece, is coupled with the controller and is used for driving the driving piece to move so as to adjust the position of the suction head.

7. The marking device according to claim 4, wherein the marking mechanism further comprises:

the force sensor is arranged on the sucker, coupled with the controller and used for sensing the force applied to the sucker based on the label moved by the sucker.

8. A tagging system comprising a printing apparatus and a tagging apparatus according to any one of claims 1 to 7.

9. The tagging system of claim 8, wherein the printing device comprises:

the fixed shaft is used for placing the roll material provided with the label;

the main body is used for receiving the roll material led out from the fixed shaft and printing information to the label;

a stripping member for receiving the web from the main body and for deriving the label on the web on which information has been printed.

10. A label indexing system according to claim 9, wherein the position at which the stripper member derives the label is gravitationally higher than the position of the label receiving mechanism.

11. The tagging system of claim 9, wherein the printing device further comprises:

a rewind roll for receiving the web from the body and providing force to the stripper member to direct the label.

12. A control method of a label picking device, wherein the label picking device comprises a label receiving mechanism and a label picking mechanism, the label picking mechanism and the label receiving mechanism are arranged on two sides of a label led out by a printing device, and the control method comprises the following steps:

controlling the label receiving mechanism to apply a first acting force to a first label derived by the printing device;

controlling the mark taking mechanism to apply a second acting force on the first label;

controlling the mark taking mechanism to move;

and determining that the first label moves along with the label taking mechanism under the action of the second action force, and controlling the label taking mechanism to be far away from the label receiving mechanism.

13. The control method of claim 12, the pick-up mechanism comprising a suction head, the control method further comprising:

controlling the label taking mechanism to move so as to enable the adsorption surface of the suction head to move to a label taking position;

and controlling the sucker to apply the second acting force to the first label at the label taking position.

14. The control method according to claim 13, wherein the index position is 0.3mm to 0.5mm above the first label derived by the printing apparatus.

15. The control method of claim 13, wherein the label receiving mechanism comprises a label receiving plate, the label receiving plate is provided with a receiving surface for receiving the first label, a blowing hole is formed in the label receiving plate, one end of the blowing hole is connected with the receiving surface, and the other end of the blowing hole penetrates through the label receiving plate and is communicated with a blowing piece; the control method further comprises the following steps:

controlling the blowing hole to blow the first label to apply a third acting force;

and determining that the first label moves along with the label taking mechanism under the action of the second acting force and the third acting force, and controlling the label taking mechanism to be far away from the label receiving mechanism.

16. The control method of claim 12, the pick-up mechanism comprising a suction head, the control method further comprising:

controlling the mark taking mechanism to move so that the sucker moves towards the mark receiving mechanism and is in contact with the first label;

controlling the suction head to apply the second acting force to the first label.

17. The control method of claim 16, wherein the label receiving mechanism comprises a label receiving plate, the label receiving plate is provided with a receiving surface for receiving the first label, a blowing hole is formed in the label receiving plate, and one end of the blowing hole is connected with the receiving surface; the control method further comprises the following steps:

blowing air through the blow hole against the first label to apply a third force;

18. The control method of claim 12, wherein the indexing mechanism comprises a suction head, the control method further comprising:

determining that the first label does not move along with the label taking mechanism under the action of the second acting force;

controlling the mark taking mechanism to move based on the fact that the first label does not move along with the mark taking mechanism under the action of the second action force, so that the sucker moves towards the mark receiving mechanism and is in contact with the first label;

controlling the sucker to apply a fourth acting force to the first label, wherein the value of the fourth acting force is larger than that of the second acting force;

controlling the mark taking mechanism to move;

and determining that the first label moves along with the label taking mechanism under the action of the fourth acting force, and controlling the label taking mechanism to be far away from the label receiving mechanism.

19. The control method according to claim 18, further comprising:

controlling the label receiving mechanism to apply a fifth acting force to a second label led out by the printing device;

controlling the marking mechanism to apply a sixth acting force to the second label, wherein the value of the sixth acting force is equal to that of the fourth acting force;

controlling the mark taking mechanism to move;

determining that the second label does not move along with the label taking mechanism under the action of the sixth acting force;

controlling the label taking mechanism to move based on the fact that the second label does not move along with the label taking mechanism under the action of the sixth acting force, so that the suction head moves towards the label receiving mechanism and is in contact with the second label;

controlling the sucker to apply a seventh acting force to the second label, wherein the value of the seventh acting force is larger than that of the sixth acting force;

controlling the mark taking mechanism to move;

determining that the second label moves along with the label taking mechanism under the action of the seventh acting force, and controlling the label taking mechanism to be far away from the label receiving mechanism;

and adjusting the suction head to apply an eighth acting force to the subsequent label according to the fourth acting force and the seventh acting force, wherein the eighth acting force is between the fourth acting force and the seventh acting force.

20. The control method according to claim 12, wherein the label receiving mechanism comprises a label receiving plate, and a blowing hole is formed in the label receiving plate; the control method further includes:

blowing air to the first label through the air blowing hole to apply a ninth acting force based on the first label not moving along with the label taking mechanism under the action of the second acting force, wherein the value of the ninth acting force is larger than that of the first acting force;

controlling the mark taking mechanism to move;

and determining that the first label moves along with the label taking mechanism under the action of the second acting force and the ninth acting force, and controlling the label taking mechanism to be far away from the label receiving mechanism.