CN115649584A

CN115649584A - Intelligent robot multi-surface labeling and coding mechanism

Info

Publication number: CN115649584A
Application number: CN202211093385.1A
Authority: CN
Inventors: 李新利; 张恒; 王军; 曹苇
Original assignee: Hefei Hagong Longyan Intelligent Equipment Co Ltd
Current assignee: Hefei Hagong Longyan Intelligent Equipment Co Ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2023-01-31

Abstract

The invention relates to a multi-surface labeling and coding mechanism of an intelligent robot, which relates to the technical field of labeling and coding of packaging boxes and comprises two roller conveyors and a mechanical arm, wherein the front end of the mechanical arm is provided with an operating head, and a labeling and coding station is reserved between the two roller conveyors; the device also comprises a horizontal transfer mechanism and a synchronous pickup mechanism arranged at the front end of the horizontal transfer mechanism; the packing box to be labeled and coded is conveyed to a labeling and coding station through a roller conveyor, the synchronous picking mechanism picks up the packing box, the horizontal transfer mechanism pushes the synchronous picking mechanism to convey the packing box to another roller conveyor, the bottom surface of the packing box is gradually suspended, and the mechanical arm drives the operating head to finish labeling and coding operation on the bottom surface and other surfaces of the packing box. The labeling and coding device can well finish labeling and coding operations on multiple surfaces, particularly the lower end surface, of the packing box while ensuring horizontal conveying of the packing box, and has high use flexibility and good application prospect.

Description

Intelligent robot multi-surface labeling and coding mechanism

Technical Field

The invention belongs to the technical field of labeling and coding of packaging boxes, and particularly relates to a multi-surface labeling and coding mechanism of an intelligent robot.

Background

In the packaging production line of products such as medicines, cosmetics and the like, labeling and coding operations are required to be carried out on the surface of a packaging box after the processes of box loading and box sealing are finished, labeling and coding are carried out on the surface of the packaging box at present, an automatic labeling technology is mainly utilized, and labeling and coding are accurately carried out on the packaging box through the driving of a mechanical arm;

in the prior art, for example, patent No. CN114348390A proposes an automatic multi-directional online labeling and coding device, which can label and code four sides of a packaging box, and can simultaneously realize adjustment of a carton placing direction and doubling production of labeling and coding, a conveying device used in the device completely shields the lower end surface of the packaging box, in practical application, labeling and coding operations need to be performed on the lower end surface of the packaging box, if a simple turnover mechanism is used to turn over a packaged goods, then labeling and coding are performed, so that not only are processes increased, risks of product damage increased, how to ensure horizontal conveying of the packaging box, but also multiple sides of the packaging box are completed, especially, the labeling and coding operation on the lower end surface is a technical problem to be solved, and therefore, an intelligent robot multi-side coding mechanism is proposed for labeling.

Disclosure of Invention

The invention aims to solve the problems and provide an intelligent robot multi-surface labeling and coding mechanism.

The invention realizes the purpose through the following technical scheme:

the intelligent robot multi-surface labeling and coding mechanism comprises two roller conveyors arranged in the horizontal direction and used for conveying a packing box and a mechanical arm arranged on one side of each roller conveyor, wherein an operating head is arranged at the front end of each mechanical arm, and a labeling and coding station is reserved between the two roller conveyors;

the horizontal shifting mechanism is arranged below one of the roller conveyors; the picking end of the synchronous picking mechanism extends to the horizontal central axis of the two roller conveyors;

the packing box to be labeled and coded is conveyed to a labeling and coding station through a roller conveyor, the synchronous picking mechanism picks up the packing box, the horizontal transfer mechanism pushes the synchronous picking mechanism to convey the packing box to another roller conveyor, the bottom surface of the packing box is gradually suspended, and the mechanical arm drives the operating head to finish labeling and coding operation on the bottom surface and other surfaces of the packing box.

As a further optimization scheme of the invention, the operating head comprises a transverse plate, a coding stamp arranged in the middle of the transverse plate and a vacuum chuck arranged on the transverse plate and arranged along the outer ring of the coding stamp, and a connector axially connected with the front end of the mechanical arm is arranged on the upper end face of the coding stamp.

As a further optimization scheme of the invention, the horizontal transfer mechanism comprises a base and a transfer frame in sliding fit with the base, the front end of the transfer frame is provided with a vertical frame connected with the synchronous pickup mechanism, the inner side wall of the base is provided with a rack, the transfer frame is provided with a driving motor, the driving end of the driving motor is provided with a gear piece meshed with the rack, and the outer side of the transfer frame is provided with a guide rail movably embedded with the base.

As a further optimization scheme of the invention, auxiliary supporting pieces are symmetrically arranged on two sides of the base, and each auxiliary supporting piece comprises a U-shaped steel belt, magnets uniformly distributed on the outer side of the U-shaped steel belt and an end seat arranged at the front end of the U-shaped steel belt and connected with the outside of the roller conveyor.

As a further optimization scheme of the invention, the synchronous picking mechanism comprises a vacuum generator arranged at the rear end of the horizontal transfer mechanism, a conveying pipe connected with an air outlet of the vacuum generator and a valve member arranged at the front end of the horizontal transfer mechanism, wherein a plurality of suction nozzles are uniformly distributed at the top end of the valve member.

As a further optimization scheme of the invention, the valve member comprises a shell, curved surfaces matched with a roller conveyor are symmetrically arranged on the outer walls of two sides of the shell, a cavity is arranged in the shell, a valve seat is arranged on one side of the cavity, a plugging shifting sheet is fixed on one side of the cavity corresponding to the valve seat, a linkage block is movably inserted into the front end of the shell, one end, extending into the cavity, of the linkage block is connected with the plugging shifting sheet, a spring part is sleeved at one end, extending into the cavity, of the linkage block, and a shaft sleeve is arranged at the insertion position of the linkage block and the shell.

As a further optimization scheme of the invention, the roller conveyor comprises a rack and roller pieces uniformly distributed on the rack, the end part of each roller piece is provided with meshed gears which are meshed with each other, and the outside of the rack is provided with a servo motor which is sleeved with one roller piece.

As a further optimization scheme of the invention, a hood is arranged on the rack, two limiting frames are symmetrically arranged on the inner side of the hood, an air cylinder is arranged on the outer side of the hood, and the end of a piston rod of the air cylinder is connected with one of the limiting frames.

As a further optimized scheme of the invention, a label printer corresponding to the mechanical arm is arranged on the outer side of the roller conveyor, a printing table and a distributing roller which is matched with the roller conveyor in a rotating mode and used for distributing labels are arranged on the label printer.

The invention has the beneficial effects that:

according to the labeling and coding device, the lower end face of the packaging box is in a suspended state in a mode that the horizontal transfer mechanism is combined with the synchronous picking mechanism to drive the packaging box to translate on the labeling and coding station, so that the mechanical arm can conveniently drive the operating head to stretch into the lower end face of the packaging box from the lower side of the packaging box to achieve labeling and coding operation, meanwhile, the packaging box can be stably transmitted to another roller conveyor from one roller conveyor, the use flexibility is high, and the application prospect is good.

Drawings

FIG. 1 is a schematic view of the overall structure provided by the present invention;

FIG. 2 is a partial side view provided by the present invention;

FIG. 3 is an enlarged view of the portion A-A of FIG. 2 according to the present invention;

FIG. 4 is a schematic view of the internal structure of the valve member according to the present invention;

FIG. 5 is a schematic perspective view of an auxiliary support according to the present invention;

FIG. 6 is a schematic structural diagram of an operating head according to the present invention;

in the figure: 1. a roller conveyor; 11. a frame; 12. a drum member; 13. a hood; 14. a limiting frame; 15. a cylinder; 16. a servo motor; 17. a meshing gear; 2. a mechanical arm; 3. an operating head; 31. a transverse plate; 32. a vacuum chuck; 33. printing a code stamp; 34. a connector; 4. a label printer; 5. a horizontal transfer mechanism; 51. a base; 52. a transfer frame; 53. erecting a frame; 54. a drive motor; 55. a gear member; 56. a rack; 57. a guide rail; 58. an auxiliary support; 581. a U-shaped steel belt; 582. an end seat; 583. a magnet; 6. a synchronous pick-up mechanism; 61. a vacuum generator; 62. a delivery pipe; 63. a suction nozzle; 64. a valve member; 641. a housing; 642. a linkage block; 643. a shaft sleeve; 644. a spring member; 645. plugging the shifting sheet; 646. a valve seat; 7. a dispensing roller; 8. a printing table.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

Example 1

As shown in fig. 1-2, the multi-surface labeling and coding mechanism of the intelligent robot provided by the embodiment includes two roller conveyors 1 arranged along a horizontal direction and used for conveying a packaging box, and a mechanical arm 2 arranged on one side of the roller conveyors 1, wherein an operating head 3 is arranged at the front end of the mechanical arm 2, and a labeling and coding station is left between the two roller conveyors 1;

the horizontal shifting mechanism 5 is arranged below one of the roller conveyors 1; the synchronous picking mechanism 6 is arranged at the front end of the horizontal transfer mechanism 5, and the picking end of the synchronous picking mechanism 6 extends to the horizontal central axis of the two roller conveyors 1;

the packing box to be labeled and coded is conveyed to a labeling and coding station through one roller conveyor 1, the synchronous picking mechanism 6 picks up the packing box, the horizontal transfer mechanism 5 pushes the synchronous picking mechanism 6 to convey the packing box to the other roller conveyor 1, the bottom surface of the packing box is gradually suspended, and the mechanical arm 2 drives the operating head 3 to finish labeling and coding operation on the bottom surface and other surfaces of the packing box.

Further, as shown in fig. 6, the operating head 3 includes a transverse plate 31, a code printing stamp 33 disposed in the middle of the transverse plate 31, and a vacuum chuck 32 disposed on the transverse plate 31 and disposed along the outer ring of the code printing stamp 33, a connector 34 in axial contact with the front end of the mechanical arm 2 is disposed on the upper end surface of the code printing stamp 33, the connector 34 is used to connect the entire operating head 3 with the mechanical arm 2, the mechanical arm 2 can drive the operating head 3 to move in a multi-axial direction, a label printer 4 corresponding to the mechanical arm 2 is disposed on the outer side of the roller conveyor 1, a color printing table 8 is disposed on the label printer 4 and a dispensing roller 7 for dispensing labels is rotatably matched with the label printer, the label printer 4 prints labels and delivers the labels through the dispensing roller 7, the vacuum chuck 32 of the operating head 3 removes the labels under the action of vacuum suction, and completes labeling operation by being close to the packaging box under the action of the mechanical arm 2, and, in addition, the code printing stamp 33 on the operating head 3 is driven by the mechanical arm 2 to contact with the color printing table 8.

Further, the roller conveyor 1 comprises a rack 11 and roller pieces 12 uniformly arranged on the rack 11, the end of each roller piece 12 is provided with a meshing gear 17 which is meshed with each other, a servo motor 16 which is sleeved with one roller piece 12 is arranged outside the rack 11, the servo motor 16 drives one roller piece 12 to rotate, then the plurality of roller pieces 12 on the rack 11 realize synchronous rotation through meshing transmission between the meshing gears 17, a hood 13 is arranged on the rack 11, two limiting frames 14 are symmetrically arranged on the inner side of the hood 13, an air cylinder 15 is arranged on the outer side of the hood 13, the piston rod end of the air cylinder 15 is connected with one limiting frame 14, the air cylinder 15 drives one limiting frame 14 to approach the other limiting frame 14, and the distance between the two limiting frames is changed to adapt to packing cases with different widths.

Example 2

On the basis of embodiment 1, as shown in fig. 2 to 3, the horizontal transfer mechanism 5 includes a base 51 and a transfer frame 52 slidably engaged with the base 51, a vertical frame 53 connected to the synchronous pickup mechanism 6 is provided at a front end of the transfer frame 52, a rack 56 is provided on an inner side wall of the base 51, a driving motor 54 is provided on the transfer frame 52, a gear member 55 engaged with the rack 56 is provided at a driving end of the driving motor 54, a guide rail 57 movably fitted with the base 51 is provided on an outer side of the transfer frame 52, and the guide rail 57 ensures structural stability between the transfer frame 52 and the base 51 when the transfer frame 52 moves horizontally.

Further, as shown in fig. 5, auxiliary supporting members 58 are symmetrically disposed on two sides of the base 51, the auxiliary supporting members 58 enable the roller conveyor 1 to be structurally connected with the horizontal transfer mechanism 5, each auxiliary supporting member 58 includes a U-shaped steel belt 581, magnets 583 uniformly distributed on the outer side of the U-shaped steel belt 581, and an end seat 582 disposed at the front end of the U-shaped steel belt 581 and connected with the outside of the roller conveyor 1, when the transfer rack 52 is horizontally displaced, the U-shaped steel belt 581 is pulled to be displaced, so that the magnets 583 on the outer side of the U-shaped steel belt 581 are gradually separated from the roller conveyor 1, and when the transfer rack 52 is reset, the magnets 583 on the outer side of the U-shaped steel belt 581 are gradually restored to the state of being magnetically attracted with the roller conveyor 1 again.

The synchronous picking mechanism 6 comprises a vacuum generator 61 arranged at the rear end of the horizontal transfer mechanism 5, a conveying pipe 62 connected with an air outlet of the vacuum generator 61, and a valve member 64 arranged at the front end of the horizontal transfer mechanism 5, wherein a plurality of suction nozzles 63 are uniformly distributed at the top end of the valve member 64, the valve member 64 is in an open state in an original state, vacuum suction force generated by the vacuum generator 61 drives the suction nozzles 63 through the conveying pipe 62, so that the suction nozzles 63 have suction force to suck the packing box, and the packing box is swung from one roller conveyor 1 to the other roller conveyor 1 under the drive of the horizontal transfer mechanism 5 and the action of the synchronous picking mechanism 6.

The specific application process is as follows, when a packaging box to be labeled and coded is conveyed to a labeling and coding station between two roller conveyors 1 through one roller conveyor 1, the synchronous pickup mechanism 6 is started, vacuum suction generated by the vacuum generator 61 drives the suction nozzle 63 through the conveying pipe 62, so that the suction nozzle 63 has suction force to adsorb the packaging box, meanwhile, the horizontal transfer mechanism 5 is started, namely, after the driving motor 54 drives the gear piece 55 to rotate and to generate meshing transmission with the rack 56 on the inner side of the base 51, the horizontal transfer frame 52 and the base 51 are driven to generate horizontal displacement, further the synchronous pickup mechanism 6 on the front end stand 53 of the transfer frame 52 is driven to synchronously horizontally displace, the packaging box adsorbed by the synchronous pickup mechanism 6 is driven to horizontally move on the labeling and coding station, meanwhile, the mechanical arm 2 drives the operating head 3 to be close to the surface of the packaging box required to be labeled and coded, then labeling and coding of multiple surfaces are completed, particularly, in the application, the mode that the horizontal transfer of the labeling and coding mechanism 5 and the packaging box from the lower end surface of the packaging box to the other roller conveyor 1 is conveniently driven by the synchronous pickup mechanism 2 to stably extend into the packaging box from the lower end of the packaging box, and the other roller conveyor 1.

Example 3

On the basis of embodiment 2, as shown in fig. 4, the valve member 64 includes a housing 641, curved surfaces matched with the roller conveyor 1 are symmetrically arranged on outer walls of two sides of the housing 641, a cavity is arranged inside the housing 641, a valve seat 646 is arranged on one side of the cavity, a blocking pick 645 is fixed on one side of the cavity corresponding to the valve seat 646, a linkage block 642 is movably inserted into the front end of the housing 641, one end of the linkage block 642 extending into the cavity is connected with the blocking pick 645, a spring member 644 is sleeved on one end of the linkage block 642 extending into the cavity, and a shaft sleeve 643 is arranged at an insertion position of the linkage block 642 and the housing 641;

specifically, when the horizontal transfer mechanism 5 carries the package adsorbed by the synchronous pickup mechanism 6 to complete labeling and coding from the labeling and coding station and moves to another roller conveyor 1, the outer side of the linkage block 642 is in a curved surface design and contacts with the outside of the roller conveyor 1, and the linkage block 642 and the housing 641 slide relatively along with the continuous advance of the horizontal transfer mechanism 5, so that the spring part 644 outside the linkage block 642 stretches, the linkage block 642 further pushes the plugging shifting piece 645 to abut against the valve seat 646, the cavity is cut into two spaces, the valve part 64 is closed, the suction nozzle 63 loses suction force, and when one end of the packing box contacts with the roller conveyor 1, the synchronous pickup mechanism 6 cannot adsorb the packing box, and the horizontal transfer mechanism 5 resets to drive the synchronous pickup mechanism 6 to reset along with the conveying of the roller conveyor 1 to the next processing station.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.

Claims

1. Intelligent robot multiaspect is pasted mark and is beaten sign indicating number mechanism, include two cylinder conveyer (1) that are used for carrying the packing box and set up arm (2) in cylinder conveyer (1) one side that set up along the horizontal direction, arm (2) front end is equipped with operating head (3), its characterized in that: a labeling and coding station is reserved between the two roller conveyors (1);

the automatic feeding device is characterized by further comprising a horizontal transfer mechanism (5) arranged below one of the roller conveyors (1) and a synchronous picking mechanism (6) arranged at the front end of the horizontal transfer mechanism (5), wherein the picking end of the synchronous picking mechanism (6) extends to the horizontal central axis of the two roller conveyors (1);

the packaging box to be labeled and coded is conveyed to a labeling and coding station through a roller conveyor (1), a synchronous picking mechanism (6) picks the packaging box, a horizontal transfer mechanism (5) pushes the synchronous picking mechanism (6) to convey the packaging box to another roller conveyor (1), the bottom surface of the packaging box is gradually suspended, and an operating head (3) is driven by a mechanical arm (2) to complete labeling and coding operation on the bottom surface and other surfaces of the packaging box.

2. The intelligent robot multi-face labeling and coding mechanism according to claim 1, characterized in that: operating head (3) include diaphragm (31), locate printing sign indicating number stamp (33) at diaphragm (31) middle part and locate diaphragm (31) on along vacuum chuck (32) of printing sign indicating number stamp (33) outer lane setting, the up end of printing sign indicating number stamp (33) is equipped with connector (34) with arm (2) front end coupling.

3. The intelligent robot multi-face labeling and coding mechanism according to claim 1, characterized in that: the horizontal transfer mechanism (5) comprises a base (51) and a transfer frame (52) in sliding fit with the base (51), wherein a vertical frame (53) connected with the synchronous pickup mechanism (6) is arranged at the front end of the transfer frame (52), a rack (56) is arranged on the inner side wall of the base (51), a driving motor (54) is arranged on the transfer frame (52), a gear piece (55) meshed with the rack (56) is arranged at the driving end of the driving motor (54), and a guide rail (57) movably embedded with the base (51) is arranged on the outer side of the transfer frame (52).

4. The intelligent robot multi-face labeling and coding mechanism according to claim 3, characterized in that: the auxiliary supporting pieces (58) are symmetrically arranged on two sides of the base (51), and each auxiliary supporting piece (58) comprises a U-shaped steel belt (581), magnets (583) uniformly distributed on the outer side of each U-shaped steel belt (581) and an end seat (582) arranged at the front end of each U-shaped steel belt (581) and connected with the outer portion of the roller conveyor (1).

5. The intelligent robot multi-face labeling and coding mechanism according to claim 1, characterized in that: the synchronous picking mechanism (6) comprises a vacuum generator (61) arranged at the rear end of the horizontal transfer mechanism (5), a conveying pipe (62) connected with an air outlet of the vacuum generator (61) and a valve piece (64) arranged at the front end of the horizontal transfer mechanism (5), wherein a plurality of suction nozzles (63) are uniformly distributed at the top end of the valve piece (64).

6. The intelligent robot multi-face labeling and coding mechanism according to claim 5, characterized in that: the valve piece (64) comprises a shell (641), curved surfaces matched with the roller conveyor (1) are symmetrically arranged on the outer walls of two sides of the shell (641), a cavity is arranged inside the shell (641), a valve seat (646) is arranged on one side of the cavity, a plugging shifting sheet (645) is fixed on one side, corresponding to the valve seat (646), inside the cavity, a linkage block (642) is movably inserted into the front end of the shell (641), one end, extending into the cavity, of the linkage block (642) is connected with the plugging shifting sheet (645), a spring piece (644) is sleeved on one end, extending into the cavity, of the linkage block (642), and a shaft sleeve (643) is arranged at the insertion position of the linkage block (642) and the shell (641).

7. The intelligent robot multi-face labeling and coding mechanism according to claim 1, characterized in that: roller conveyor (1) include frame (11) and the equipartition locate roller spare (12) on frame (11), and every the tip of roller spare (12) is equipped with intermeshing's meshing gear (17), the outside of frame (11) is equipped with one servo motor (16) that roller spare (12) cup jointed mutually.

8. The intelligent robot multi-face labeling and coding mechanism according to claim 7, characterized in that: the engine is characterized in that a hood (13) is arranged on the rack (11), two limiting frames (14) are symmetrically arranged on the inner side of the hood (13), an air cylinder (15) is arranged on the outer side of the hood (13), and the end of a piston rod of the air cylinder (15) is connected with one of the limiting frames (14).

9. The intelligent robot multi-face labeling and coding mechanism according to claim 1, characterized in that: and a label printer (4) corresponding to the mechanical arm (2) is arranged on the outer side of the roller conveyor (1), a printing table (8) and a distributing roller (7) which is matched with the label printer (4) in a rotating mode and used for distributing labels are arranged on the label printer (4).