CN213769278U - Automatic unloading equipment on non-setting adhesive label paper that pastes of robot - Google Patents
Automatic unloading equipment on non-setting adhesive label paper that pastes of robot Download PDFInfo
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- CN213769278U CN213769278U CN202022148332.8U CN202022148332U CN213769278U CN 213769278 U CN213769278 U CN 213769278U CN 202022148332 U CN202022148332 U CN 202022148332U CN 213769278 U CN213769278 U CN 213769278U
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Abstract
The utility model relates to a robot automatic self-adhesive label paper feeding and discharging device, which comprises a feeding roller line, a lower hollow frame roller line, a translational transfer module, a first robot module and a second robot module; the first robot module comprises a hand grasping assembly, a first robot and a first visual positioning mechanism; the second robot module comprises a labeler, a label receiving mechanism, a second visual positioning mechanism, a sucker mechanism and a second robot; the material loading method comprises the steps that material loading is carried out on a material frame provided with workpieces through a material loading roller line, after the material loading is in place, a first robot module is used for positioning the workpieces in the material frame and taking the workpieces, then a second robot module is used for labeling the workpieces, then the first robot module places the labeled workpieces to the next station, after all the workpieces in one material frame are processed, the empty frame is conveyed to a lower empty frame roller line through a translation transfer module to automatically unload the empty frame, and the operations of workpiece labeling, workpiece placement, workpiece feeding and discharging and the like can be automatically carried out.
Description
Technical Field
The utility model relates to a robotechnology field, more specifically say, relate to an unloading equipment on automatic non-setting adhesive label paper of pasting of robot.
Background
Under the current situation, the labeling action and the workpiece feeding and discharging are mostly finished manually, a plurality of workers are needed to cooperate to perform the operations of workpiece labeling, workpiece placing, workpiece feeding and discharging and the like, the production labor intensity is high, the labor cost is high, the product consistency is poor, and the production efficiency is low.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to prior art's above-mentioned defect, a unloading equipment on automatic non-setting adhesive label paper of pasting of robot is provided.
The utility model provides a technical scheme that its technical problem adopted is:
the automatic self-adhesive label paper sticking and feeding and discharging equipment comprises a feeding roller line for feeding a material frame, a lower empty frame roller line for discharging an empty frame, a translation transfer module for moving the empty frame on the feeding roller line to the lower empty frame roller line, a first robot module for taking materials from the material frame on the feeding roller line, and a second robot module for labeling a workpiece; the first robot module comprises a hand grasping assembly, a first robot driving the hand grasping assembly to move and a first visual positioning mechanism for photographing and positioning a workpiece to be grasped; the second robot module comprises a labeler for printing labels, a label receiving mechanism for receiving the labels printed by the labeler, a second visual positioning mechanism for receiving the labels on the label receiving mechanism and positioning the labels by photographing, a sucker mechanism for sucking the labels and a second robot for driving the sucker mechanism to move.
Automatic unloading equipment on non-setting adhesive label paper of pasting of robot, wherein, the automatic unloading equipment on non-setting adhesive label paper of pasting of robot still includes right the material frame promotes the lift module of location on the material loading cylinder line.
The utility model discloses a robot automatic stickers the pressure sensitive adhesive label paper and goes up unloading equipment, wherein, the said lifting module includes the grudging post, there is a tray assembly on the said grudging post in the longitudinal sliding; the vertical frame is provided with a screw rod for driving the tray assembly to lift and a servo motor for driving the screw rod.
Automatic unloading equipment on non-setting adhesive label paper of pasting of robot, wherein, the tail end of material loading cylinder line is provided with the confession the fluting that tray component stretched into.
The utility model discloses a robot automatic sticker label paper feeding and discharging device, wherein, the robot automatic sticker label paper feeding and discharging device also comprises a workpiece positioning table for placing and positioning a workpiece; the hand grasping assembly comprises a longitudinal hand grasping component and a transverse hand grasping component, wherein the longitudinal hand grasping component is used for taking materials from the material frame on the feeding roller line and placing the materials on the workpiece positioning table, and the transverse hand grasping component is used for clamping, positioning and clamping the workpieces on the workpiece positioning table.
The utility model discloses a robot automatic stickers the pressure sensitive adhesive label paper and goes up unloading equipment, wherein, the material loading roller line includes the pay-off passageway and installs its mounting bracket; the feeding channel is formed by a plurality of electric rollers which are arranged side by side; the feeding roller line further comprises one or more cylinder blocking mechanisms for blocking the workpieces on the feeding channel and one or more groups of correlation photoelectric switches for sensing the workpieces on the feeding channel.
Automatic unloading equipment on non-setting adhesive label paper of pasting of robot, wherein, lower empty frame cylinder line with material loading cylinder line structure is unanimous.
Automatic unloading equipment on non-setting adhesive label paper of pasting of robot, wherein, the translation moves and carries the module and embrace including the parallel of snatching the material frame and grab cylinder mechanism, drive the parallel cylinder mechanism that reciprocates that grabs cylinder mechanism and go up and down is embraced to and drive reciprocate cylinder mechanism lateral shifting's translation moving mechanism.
The utility model discloses a robot automatic stickers the unloading equipment on the self-adhesive label paper, wherein, the said label receiving organization includes the label receiving board and drives it in the exit of the said labeler and the slip table telescopic cylinder that the photographing identification location of the said second vision positioning organization moves back and forth; one or more vacuum adsorption holes for adsorbing labels are arranged on the label receiving plate.
Automatic unloading equipment on non-setting adhesive label paper of pasting of robot, wherein, sucking disc mechanism with the expansion end of second robot passes through buffer gear and connects.
The beneficial effects of the utility model reside in that: the automatic feeding device comprises a feeding roller line, a first robot module, a second robot module, a third robot module, a fourth robot module, a fifth robot module, a sixth robot module, a fourth robot module, a fifth robot module, a sixth robot module, a fifth robot module, a sixth robot module, a fourth robot module, a sixth robot module, a fourth robot module, a sixth module, a fourth robot module, a fifth module, a sixth module, a fourth robot module, a fifth module, a fourth robot, a fifth module, a fourth robot, a fifth module, a sixth module, a fourth robot, a fifth module, a fourth robot, a fourth module, a fifth module, a fourth robot, a fourth module, a fourth robot, a fifth module, a fourth module, a fourth.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts according to the drawings:
FIG. 1 is a general view of a robot automatic adhesive label paper feeding and discharging device according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural view of a translation transfer module of a loading/unloading device for a robot to automatically stick self-adhesive label paper according to a preferred embodiment of the present invention;
fig. 3 is a schematic view of a feeding roller line structure of a feeding and discharging device for a robot to automatically stick self-adhesive label paper according to a preferred embodiment of the present invention;
fig. 4 is a schematic structural view of a first robot module of the automatic adhesive label paper-sticking feeding and discharging device of the robot according to the preferred embodiment of the present invention;
fig. 5 is a schematic structural view of a second robot module of the automatic self-adhesive label paper feeding and discharging device of the robot according to the preferred embodiment of the present invention;
fig. 6 is a schematic structural view of the lifting module of the automatic self-adhesive label paper feeding and discharging device of the robot according to the preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, a clear and complete description will be given below with reference to the technical solutions of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of protection of the present invention.
The robot automatic non-setting adhesive label paper feeding and discharging device of the preferred embodiment of the utility model comprises a feeding roller line 1 for feeding a material frame, a lower hollow frame roller line 2 for discharging a hollow frame, a translation transfer module 3 for moving the hollow frame on the feeding roller line to the lower hollow frame roller line, a first robot module 4 for taking materials from the material frame on the feeding roller line, and a second robot module 5 for labeling workpieces, as shown in figure 1; the first robot module 4 comprises a hand grasping assembly 40, a first robot 41 driving the hand grasping assembly to move, and a first visual positioning mechanism 42 for photographing and positioning a workpiece to be grasped; the second robot module 5 comprises a labeler 50 for printing labels, a label receiving mechanism 51 for receiving the labels printed by the labeler, a second visual positioning mechanism 52 for photographing and positioning the labels on the label receiving mechanism, a sucker mechanism 53 for sucking the labels, and a second robot 54 for driving the sucker mechanism to move;
the material frame provided with the workpieces is loaded through the loading roller line 1, after the loading is in place, the first robot module 4 positions and takes the workpieces from the workpieces in the material frame, then the second robot module 5 performs a labeling action on the workpieces, then the first robot module 4 places the labeled workpieces to the next station, after all the workpieces in one material frame are processed, the empty frame is transported to the lower empty frame roller line 2 through the translation transfer module 3 to automatically unload the empty frame, the operations of workpiece labeling, workpiece placement, workpiece loading and unloading and the like can be automatically performed, a large amount of labor is saved, the production efficiency is high, and the product consistency is good;
note that the second robot module 5 may perform labeling processing on the workpiece held by the first robot module 4, or may perform labeling processing on the workpiece placed on the workpiece positioning table by the first robot module 4 as described below.
Preferably, the automatic self-adhesive label paper pasting robot loading and unloading equipment further comprises a lifting module 6 for lifting and positioning the material frame on the loading roller line; go up and down to the material frame through lifting module 6 and operate, can realize processing a pile of material frame of piling together, improved last unloading efficiency.
Preferably, the lifting module 6 comprises a vertical frame 60, and a tray assembly 61 is longitudinally arranged on the vertical frame 60 in a sliding manner; a screw rod 62 for driving the tray assembly to lift and a servo motor 63 for driving the screw rod are arranged on the vertical frame 60; simple structure, operating stability is good, and the lift control precision is high.
Preferably, the tail end of the feeding roller line 1 is provided with a slot 100 for the tray assembly 61 to extend into; make things convenient for the tray subassembly to hold up the operation to the material frame.
Preferably, the robot automatic sticker label paper feeding and discharging device further comprises a workpiece positioning table (not shown) for placing and positioning a workpiece; the hand grab assembly 40 comprises a longitudinal hand grab 400 for taking materials from the material frame on the feeding roller line 1 and placing the materials on the workpiece positioning table, and a transverse hand grab 401 for clamping, positioning, clamping and discharging the workpieces on the workpiece positioning table; the workpiece labeling stability is good;
preferably, the workpiece positioning table is arranged between the first robot and the second robot;
preferably, the first robot and the second robot adopt six-axis robots;
preferably, the feeding roller line 1 comprises a feeding channel and a mounting frame 10 for mounting the feeding channel; the feeding channel is composed of a plurality of electric rollers 11 which are arranged side by side; the feeding roller line 1 also comprises one or more cylinder blocking mechanisms 12 for blocking the workpieces on the feeding channel and one or more groups of correlation photoelectric switches 13 for sensing the workpieces on the feeding channel; the electric drum may include a master electric drum and a plurality of slave electric drums; the material frame on the feeding channel can be separated and limited through the cylinder blocking mechanism 12, so that the feeding operation control is convenient; the position of the material frame on the feeding channel is convenient to master through the correlation photoelectric switch 13.
Preferably, the structure of the lower hollow frame roller line 2 is consistent with that of the feeding roller line 1; of course, the lower hollow frame roller line 2 can also adopt other existing blanking structures, and the change belongs to the protection scope of the application.
Preferably, the translational transfer module 3 comprises a parallel holding and grabbing cylinder mechanism 30 for grabbing the material frame, an up-down moving cylinder mechanism 31 for driving the parallel holding and grabbing cylinder mechanism 30 to ascend and descend, and a translational moving mechanism 32 for driving the up-down moving cylinder mechanism 31 to transversely move; the moving action of the empty frame is convenient to carry out; the parallel grabbing cylinder mechanism 30 can adopt a conventional pneumatic clamping jaw structure and the like.
Preferably, the label receiving mechanism 51 includes a label receiving plate 510 and a sliding table telescopic cylinder 511 for driving the label receiving plate to move back and forth at the exit of the labeling machine 50 and the photographing identification positioning position of the second visual positioning mechanism 52; one or more vacuum adsorption holes for adsorbing labels are arranged on the label receiving plate 510; after a label printed by the labeler enters the label receiving plate 510, the vacuum adsorption hole performs vacuum adsorption to adsorb a base film of the label, then the sliding table telescopic cylinder 511 runs to move the label receiving plate 510 to the second visual positioning mechanism 52 for shooting and positioning, then the second robot 54 drives the sucker mechanism 53 to move, and the sucker mechanism 53 pulls down the label after adsorbing the label and pastes the label on a workpiece.
Preferably, the suction cup mechanism 53 is connected to the movable end of the second robot 54 through a buffer mechanism 55; the sucking disc mechanism 53 is convenient to absorb and carry out buffer protection when the label is attached.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.
Claims (10)
1. The automatic self-adhesive label paper sticking and feeding and discharging equipment for the robot is characterized by comprising a feeding roller line for feeding a material frame, a lower empty frame roller line for discharging an empty frame, a translation transfer module for moving the empty frame on the feeding roller line to the lower empty frame roller line, a first robot module for taking materials from the material frame on the feeding roller line, and a second robot module for labeling a workpiece; the first robot module comprises a hand grasping assembly, a first robot driving the hand grasping assembly to move and a first visual positioning mechanism for photographing and positioning a workpiece to be grasped; the second robot module comprises a labeler for printing labels, a label receiving mechanism for receiving the labels printed by the labeler, a second visual positioning mechanism for receiving the labels on the label receiving mechanism and positioning the labels by photographing, a sucker mechanism for sucking the labels and a second robot for driving the sucker mechanism to move.
2. The automatic self-adhesive label paper feeding and discharging device of the robot as claimed in claim 1, further comprising a lifting module for lifting and positioning the feeding roller line feeding frame.
3. The automatic self-adhesive label paper feeding and discharging device of the robot as claimed in claim 2, wherein the lifting module comprises a vertical frame, and a tray assembly is longitudinally slidably arranged on the vertical frame; the vertical frame is provided with a screw rod for driving the tray assembly to lift and a servo motor for driving the screw rod.
4. The robotic automatic sticker label paper feeding and discharging device as claimed in claim 3, wherein a slot into which the tray assembly extends is provided at a tail end of the feeding roller line.
5. The robotic automatic sticker-labeled paper feeding and discharging device as recited in claim 1, further comprising a workpiece positioning table for placing and positioning a workpiece; the hand grasping assembly comprises a longitudinal hand grasping component and a transverse hand grasping component, wherein the longitudinal hand grasping component is used for taking materials from the material frame on the feeding roller line and placing the materials on the workpiece positioning table, and the transverse hand grasping component is used for clamping, positioning and clamping the workpieces on the workpiece positioning table.
6. The robot automatic sticker labeling paper feeding and discharging device as claimed in any one of claims 1 to 5, wherein the feeding roller line comprises a feeding channel and a mounting rack for mounting the feeding channel; the feeding channel is formed by a plurality of electric rollers which are arranged side by side; the feeding roller line further comprises one or more cylinder blocking mechanisms for blocking the workpieces on the feeding channel and one or more groups of correlation photoelectric switches for sensing the workpieces on the feeding channel.
7. The robotic automatic sticker-labeling paper feeding and discharging device as claimed in claim 6, wherein the lower hollow frame roller line is consistent in structure with the feeding roller line.
8. The robot automatic self-adhesive label paper feeding and discharging device as claimed in any one of claims 1 to 5, wherein the translational transfer module comprises a parallel holding and grabbing cylinder mechanism for grabbing the material frame, an up-down moving cylinder mechanism for driving the parallel holding and grabbing cylinder mechanism to ascend and descend, and a translational moving mechanism for driving the up-down moving cylinder mechanism to move transversely.
9. The automatic sticker label paper feeding and discharging equipment of the robot as claimed in any one of claims 1 to 5, wherein the label receiving mechanism comprises a label receiving plate and a sliding table telescopic cylinder driving the label receiving plate to move back and forth at an outlet of the labeling machine and a photographing identification positioning position of the second vision positioning mechanism; one or more vacuum adsorption holes for adsorbing labels are arranged on the label receiving plate.
10. The automatic sticker label paper feeding and discharging device of any one of claims 1 to 5, wherein the suction cup mechanism is connected with the movable end of the second robot through a buffer mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022148332.8U CN213769278U (en) | 2020-09-25 | 2020-09-25 | Automatic unloading equipment on non-setting adhesive label paper that pastes of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022148332.8U CN213769278U (en) | 2020-09-25 | 2020-09-25 | Automatic unloading equipment on non-setting adhesive label paper that pastes of robot |
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| Publication Number | Publication Date |
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| CN213769278U true CN213769278U (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022148332.8U Active CN213769278U (en) | 2020-09-25 | 2020-09-25 | Automatic unloading equipment on non-setting adhesive label paper that pastes of robot |
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| CN (1) | CN213769278U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115924255A (en) * | 2022-12-22 | 2023-04-07 | 国网天津市电力公司物资公司 | Automatic sample sealing system before material submission |
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2020
- 2020-09-25 CN CN202022148332.8U patent/CN213769278U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115924255A (en) * | 2022-12-22 | 2023-04-07 | 国网天津市电力公司物资公司 | Automatic sample sealing system before material submission |
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