CN221394521U

CN221394521U - Double-station visual positioning labeling machine

Info

Publication number: CN221394521U
Application number: CN202420266437.9U
Authority: CN
Inventors: 韦文晓
Original assignee: Dongguan Kaijie Intelligent Technology Co ltd
Current assignee: Dongguan Kaijie Intelligent Technology Co ltd
Priority date: 2024-02-04
Filing date: 2024-02-04
Publication date: 2024-07-23
Anticipated expiration: 2034-02-04

Abstract

The utility model discloses a double-station visual positioning labeling machine, which relates to the technical field of labeling equipment and comprises a workbench and a control system, wherein a sheet feeding mechanism is arranged at the front side of the workbench, a first label feeding mechanism and a second label feeding mechanism which are arranged side by side are arranged in the middle of the workbench, a first manipulator and a second manipulator are arranged above the first label feeding mechanism and the second label feeding mechanism, the first manipulator and the second manipulator are arranged on a Z-axis moving mechanism, the Z-axis moving mechanism is slidably arranged on an X-axis moving mechanism, the X-axis moving mechanism is slidably arranged on a Y-axis moving mechanism, a label detection device is further arranged on the workbench, the label detection device is arranged between the front sides of the sheet feeding mechanism and the first label feeding mechanism and the front side of the second label feeding mechanism, a sheet detection device is arranged above the sheet feeding mechanism and is arranged on a machine cover, and the control system is in telecommunication connection with each mechanism and controls each mechanism to work in a coordinated manner. The utility model mainly adopts double-station operation, on one hand, the working efficiency is effectively improved, the labeling accuracy is improved, the labeling qualification rate is improved, the manual labor is reduced, and meanwhile, the requirements of modern mechanical automatic production are met.

Description

Double-station visual positioning labeling machine

Technical Field

The utility model relates to the technical field of labeling equipment, in particular to a double-station visual positioning labeling machine.

Background

In the current articles for daily use or electronic articles, a plurality of labels, two-dimensional codes, usage labels, bar codes and the like are required to be pasted on the surfaces of the sheets, the incoming materials such as the labels, the bar codes and the like which are required to be pasted on the sheets are generally coiled materials, the labels are required to be peeled off on coiled materials, then the labels are flatly pasted on the surfaces of the sheets, the labels or the bar codes are generally pasted by manual operation at present, but the manual pasting mode has low manual efficiency, and the conditions such as inaccurate labeling position, wrong labeling and the like exist, so that the phenomenon of labeling defective products caused by human errors is easy to occur.

Along with the continuous development of mechanical automation, more and more manual assembly lines are gradually converted into full-automatic mechanical production lines, and the mode of manually attaching labels is low in working efficiency and cannot meet the requirements of the full-automatic mechanical production lines, so that a labeling mechanism is required to be designed to meet the requirements of mechanized production.

Disclosure of utility model

The utility model aims to provide a double-station visual positioning labeling machine, which aims to solve the technical problems, and mainly adopts double-station operation, so that on one hand, the working efficiency is effectively improved, the labeling accuracy is improved, the labeling qualification rate is improved, the manual labor is reduced, and meanwhile, the requirements of modern mechanical and automatic production are met.

In order to achieve the above purpose, the present utility model is realized by the following technical scheme:

The utility model provides a duplex position vision positioning labeller, includes workstation and control system, workstation front side is equipped with sheet feed mechanism, the workstation middle part is equipped with first label feed mechanism and the second label feed mechanism that set up side by side, the top of first label feed mechanism and second label feed mechanism is equipped with first manipulator and second manipulator, first manipulator and second manipulator set up at Z axle mobile mechanism, Z axle mobile mechanism slidable mounting is on X axle mobile mechanism, X axle mobile mechanism slidable mounting is on Y axle mobile mechanism, still be equipped with label detection device on the workstation, label detection device is located between sheet feed mechanism and first label feed mechanism front side and the second label feed mechanism front side, sheet feed mechanism top is equipped with sheet detection device, sheet detection device installs on the radome, control system forms telecommunication connection with each mechanism, and each mechanism of control coordinates work.

Preferably, the sheet feeding mechanism comprises a sheet feeding frame, sheet conveying rollers and a sheet conveying motor, wherein the sheet feeding frame is installed on a workbench, the sheet conveying rollers are installed at two ends of the sheet feeding frame, a conveying belt is wound between the sheet conveying rollers at two ends, a driven wheel is installed at one end of the sheet conveying roller, the sheet conveying motor is installed on the sheet feeding frame through a motor fixing plate, a driving wheel is arranged at the output end of the sheet conveying motor, and transmission is realized between the driven wheel and the driving wheel through a transmission belt.

Preferably, the first label feeding mechanism and the second label feeding mechanism have the same structure and are connected through a connecting plate, and each of the first label feeding mechanism and the second label feeding mechanism comprises a feeding base, wherein the feeding base is fixed on a workbench, a stripping table and a discharging table are arranged on the front end surface of the feeding base, and a discharging inductor is arranged on the bottom surface of the discharging table;

And two sides of the upper end surface of the stripping table are symmetrically provided with flat grooves extending towards the middle direction, and one end of the stripping table, which is in butt joint with the discharging table, is provided with a stripping groove penetrating towards the front end direction.

Preferably, the first label feeding mechanism and the second label feeding mechanism further comprise a feeding roller, the feeding roller is mounted at the rear part of the feeding base through a roller connecting piece, a first roller, a second roller, a tensioning roller, a waste transmission roller and a waste winding roller are arranged on the inner side of the feeding base, the first roller, the second roller and the tensioning roller are sequentially arranged from high to low from the rear part to the front part, the tensioning roller is located below the stripping table, the waste winding roller is located below the first roller, the waste transmission roller is located below between the waste winding roller and the tensioning roller, the waste transmission roller is arranged below the waste transmission roller, and the upper end face of the waste transmission roller is in contact with the bottom surface of the waste transmission roller.

Preferably, the feeding motor is further arranged on the inner side of the feeding base, the feeding driving wheel is arranged at the output end of the feeding motor, the feeding middle rotating wheel is arranged at one end of the waste material transmission roller, the feeding driven wheel is arranged at one end of the waste material winding roller, transmission is achieved between the feeding driving wheel and the feeding middle rotating wheel through the transmission belt, and transmission is achieved between the feeding middle rotating wheel and the feeding driven wheel through the transmission belt.

Preferably, the first manipulator and the second manipulator have the same structure and comprise a manipulator slide rail assembly, a material taking cylinder and a material taking sucker, wherein the manipulator slide rail assembly is fixed on the Z-axis moving mechanism, the material taking cylinder is arranged on a manipulator base, the manipulator base is arranged on a slide block of the manipulator slide rail assembly, and the material taking sucker is arranged on an output end of the material taking cylinder.

Preferably, the Z-axis moving mechanism comprises a Z-axis base and a Z-axis driving motor, the Z-axis base is fixed on a sliding block of the X-axis moving mechanism, the Z-axis driving motor is fixed on the Z-axis base, a Z-axis driving wheel is arranged at the output end of the Z-axis driving motor, a Z-axis driven wheel is arranged below the Z-axis, the Z-axis driven wheel is arranged on the Z-axis base, the Z-axis driving wheel and the Z-axis driven wheel are connected through a Z-axis driving belt, manipulator linkage blocks are respectively fixed on two sides of the Z-axis driving belt, and a first manipulator and a second manipulator are respectively positioned on two sides of the Z-axis driving belt and respectively form fixed connection with the manipulator linkage blocks on two sides of the Z-axis driving belt.

Preferably, the X-axis moving mechanism comprises an X-axis linear sliding table module and an X-axis moving base, wherein two ends of the X-axis moving base are fixed on sliding blocks of the Y-axis moving mechanism, the X-axis linear sliding table module is fixed on the X-axis moving base, and the Z-axis moving mechanism is fixed on a sliding table of the X-axis linear sliding table module;

The Y-axis moving mechanism comprises a Y-axis linear sliding table module and a Y-axis sliding rail sliding block assembly, the Y-axis linear sliding table module is fixed on a first Y-axis base, the Y-axis sliding rail sliding block assembly is fixed on a second Y-axis base, and bottom surfaces at two ends of the X-axis moving mechanism are respectively fixed on a sliding table of the Y-axis linear sliding table module and a sliding block of the Y-axis sliding rail sliding block assembly.

Preferably, the label detection device adopts a CCD visual camera, and the sheet detection device also adopts a CCD visual camera.

Preferably, the hood adopts a closed hood or an open hood, and an operation screen is further arranged above the hood, and the operation screen and the control system form telecommunication connection.

The double-station visual positioning labeling machine has the following beneficial effects:

1. According to the double-station visual positioning labeling machine, the two groups of feeding mechanisms and the two groups of manipulators are arranged, so that the coiled material labels can be fed simultaneously by the two groups of feeding mechanisms, the coiled material labels can be fed simultaneously by the two groups of manipulators, and then the coiled material labels are sequentially attached to the corresponding positions of the sheets conveyed by the sheet feeding mechanisms, so that the time for feeding the coiled material labels back and forth by the manipulators is shortened, and the working efficiency is improved;

2. The double-station visual positioning labeling machine is provided with the label detection device and the sheet detection device, and both the label detection device and the sheet detection device adopt the CCD visual camera to detect and identify the angle and the position of a positioning label or a sheet and transmit related information of the positioning label or the sheet to the control system, the CCD visual camera is high in identification positioning precision, the attaching precision can be effectively ensured, the uniformity of labeling is ensured, the phenomena of non-uniform labeling, wrong labeling and the like caused by personal errors are effectively reduced, and the labeling qualification rate can be effectively improved;

3. The double-station visual positioning labeling machine disclosed by the utility model has the advantages that the whole process is automatic in feeding, stripping, taking and labeling, the labor consumption is reduced, the labor cost is reduced, and meanwhile, the requirements of modern mechanical and automatic production are met.

Drawings

FIG. 1 is a schematic diagram of the internal structure of a dual-station visual positioning labeler of the present utility model;

FIG. 2 is a schematic view of a sheet feeding mechanism of the dual-station visual positioning labeler of the present utility model;

FIG. 3 is a schematic diagram of a label feeding mechanism of the dual-station visual positioning labeler of the present utility model;

FIG. 4 is a schematic view of the back of the label feeding mechanism of the dual-station visual positioning labeler of the present utility model;

FIG. 5 is a schematic view of a manipulator and Z-axis movement mechanism of the dual-station vision positioning labeler of the present utility model;

FIG. 6 is a schematic view of an X-axis moving mechanism and a Y-axis moving mechanism of the dual-station vision positioning labeling machine of the present utility model;

Fig. 7 is an overall schematic diagram of a dual-station vision positioning labeler of the present utility model.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the following further details of the present utility model will be described with reference to examples and drawings.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, a dual-station visual positioning labeling machine comprises a workbench 1 and a control system, wherein a sheet feeding mechanism 2 is arranged at the front side of the workbench 1, a first label feeding mechanism 3 and a second label feeding mechanism 4 which are arranged side by side are arranged in the middle of the workbench 1, a first manipulator 5 and a second manipulator 6 are arranged above the first label feeding mechanism 3 and the second label feeding mechanism 4, the first manipulator 5 and the second manipulator 6 are arranged on a Z-axis moving mechanism 7, the Z-axis moving mechanism 7 is slidably arranged on an X-axis moving mechanism 8, the X-axis moving mechanism 8 is slidably arranged on a Y-axis moving mechanism 9, a label detecting device 10 is further arranged on the workbench 1, the label detecting device 10 is arranged between the front sides of the sheet feeding mechanism 2 and the first label feeding mechanism 3 and the front side of the second label feeding mechanism 4, a sheet detecting device is arranged above the sheet feeding mechanism 2, the sheet detecting device is arranged on a hood 11 and is connected with each control system in a coordination mode.

It should be noted that: in this embodiment, two rolls of label are respectively mounted on a first feeding mechanism and a second feeding mechanism, the first feeding mechanism and the second feeding mechanism strip out labels, then the first and the second manipulators 5 and 6 are driven to move above the stripped labels by the control system under the control of the control system by the X-axis moving mechanism 8, the Y-axis moving mechanism 9 and the Z-axis moving mechanism 7, the labels stripped by the first feeding mechanism are sucked by the first manipulator 5, the labels stripped by the second manipulator 6 are sucked by the second manipulator 6, then the first and the second manipulators 5 and 6 are driven to move above the label detection device 10 by the joint cooperation of the X-axis moving mechanism 8, the Y-axis moving mechanism 9 and the Z-axis moving mechanism, the angles of the labels sucked by the first manipulator 5 are detected and identified by the labels, relevant information is transmitted to the control system, the relevant information is transmitted to the control system by the label detection and the identification positioning second manipulator 6, meanwhile, the labels are attached to the control system by manual or other equipment, the labels are attached to the labels optionally placed on the upper surface of the first manipulator 2 by the label detection mechanism, the relative sheet detection device and the relative position of the labels can be accurately detected by the two manipulators 2, and the label attachment device is attached to the label detection device is not accurately detected by the control system, and the label attachment device is attached to the labels can be attached to the labels by the two pieces of labels are accurately detected by the control system.

As shown in fig. 2, the sheet feeding mechanism 2 includes a sheet feeding frame 201, a sheet conveying roller 202 and a sheet conveying motor 203, the sheet feeding frame 201 is mounted on the workbench 1, the sheet conveying roller 202 is mounted at two ends of the sheet feeding frame 201, a conveying belt is wound between the sheet conveying rollers 202 at two ends, a driven wheel is mounted at one end of the sheet conveying roller 202 at one end of the conveying belt, the sheet conveying motor 203 is mounted on the sheet feeding frame 201 through a motor fixing plate, a driving wheel is arranged at an output end of the sheet conveying motor 203, and transmission is realized between the driven wheel and the driving wheel through a transmission belt.

It should be noted that: in this embodiment, when a sheet needs to be conveyed, the sheet conveying motor 203 is started to drive the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through the driving belt, and the driven wheel drives the sheet conveying roller 202 at one end of the driven wheel to further drive the conveying belt to move, so that the sheet on the conveying belt is conveyed to move.

As shown in fig. 3 and fig. 4, the first label feeding mechanism 3 and the second label feeding mechanism 4 have the same structure, are connected by a connecting plate, and each of them comprises a feeding base 301, the feeding base 301 is fixed on the workbench 1, a stripping table 302 and a discharging table 303 are arranged on the front end surface of the feeding base 301, and a discharging sensor is arranged on the bottom surface of the discharging table 303; the upper end face of the stripping table 302 is provided with flat grooves symmetrically arranged on two sides and extending towards the middle, and one end of the stripping table 302, which is in butt joint with the discharging table 303, is provided with a stripping groove penetrating towards the front end.

It should be noted that: in this embodiment, the first label feeding mechanism 3 and the second label feeding mechanism 4 are oppositely disposed, and are connected by a connecting plate, so that when the label coil stock is pulled onto the peeling table 302, the label coil stock penetrates from the middle of the leveling groove, the leveling groove pulls the coil stock in a leveling state in advance, then passes through the peeling groove, and penetrates down to the lower part of the tensioning roller 307 from a gap between the peeling table 302 and the discharging table 303, and the height of the discharging table 303 is slightly lower than that of the peeling table 302, so that when the label coil stock is pulled downwards in a turning manner, the label can be peeled off and pushed onto the discharging table 303.

As shown in fig. 3 and fig. 4, the first label feeding mechanism 3 and the second label feeding mechanism 4 further comprise a feeding drum 304, the feeding drum 304 is mounted at the rear of the feeding base 301 through a drum connecting piece, a first drum 305, a second drum 306, a tensioning drum 307, a waste driving roller 308 and a waste winding drum 309 are arranged at the inner side of the feeding base 301, the first drum 305, the second drum 306 and the tensioning drum 307 are sequentially arranged from the rear to the front from top to bottom, the tensioning drum 307 is located below the stripping table 302, the waste winding drum 309 is located below the first drum 305, the waste driving roller 308 is located below between the waste winding drum 309 and the tensioning drum 307, a waste driving roller 310 is arranged under the waste driving roller 308, and the upper end surface of the waste driving roller 310 is in contact with the bottom surface of the waste driving roller 308. The inner side of the feeding base 301 is further provided with a feeding motor 311, the output end of the feeding motor 311 is provided with a feeding driving wheel 312, one end of the waste driving roller 308 is provided with a feeding middle rotating wheel 313, one end of the waste winding roller 309 is provided with a feeding driven wheel 314, the feeding driving wheel 312 and the feeding middle rotating wheel 313 are driven by a driving belt, and the feeding middle rotating wheel 313 and the feeding driven wheel 314 are driven by the driving belt.

It should be noted that: in this embodiment, after the coil stock is placed on the feeding drum 304, the starting end of the coil stock is pulled out, sequentially passes through the upper end face of the first drum 305 and the upper end face of the second drum 306, then passes through the leveling slot of the stripping table 302, then passes through the stripping slot, then passes through the gap between the stripping table 302 and the discharging table 303, winds to the bottom face of the tensioning drum 307, passes between the waste driving roller 308 and the waste driving drum 310, and finally winds and fixes on the waste winding drum 309; when the coil stock needs to be pulled, the feeding motor 311 is started to drive the feeding driving wheel 312, the feeding transfer wheel 313 is driven by the driving belt, the feeding driven wheel 314 is driven by the driving belt, the waste driving roller 308 and the waste winding roller 309 can be driven synchronously, and the coil stock can be pulled to move.

As shown in fig. 5, the first manipulator 5 and the second manipulator 6 have the same structure, and each of the first manipulator and the second manipulator includes a manipulator slide rail assembly 501, a material taking cylinder 502 and a material taking sucker 503, where the manipulator slide rail assembly 501 is fixed on the Z-axis moving mechanism 7, the material taking cylinder 502 is mounted on a manipulator base 504, the manipulator base 504 is mounted on a slide block of the manipulator slide rail assembly 501, and the material taking sucker 503 is mounted on an output end of the material taking cylinder 502.

It should be noted that, in this embodiment, the bottom surface of the slide rail of the manipulator slide rail assembly 501 is fixed on the Z-axis base 701, the bottom surface of the manipulator base 504 is fixed on the slide of the manipulator slide rail assembly 501, and the side surface of the manipulator base 504 is fixedly connected with the manipulator linkage block 705, so that the first manipulator 5 and the second manipulator 6 can be driven to move up and down by the Z-axis driving belt.

As shown in fig. 5 and 6, the Z-axis moving mechanism 7 includes a Z-axis base 701 and a Z-axis driving motor 702, the Z-axis base 701 is fixed on a slider of the X-axis moving mechanism 8, the Z-axis driving motor 702 is fixed on the Z-axis base 701, the output end of the Z-axis driving motor 702 is provided with a Z-axis driving wheel 703, a Z-axis driven wheel 704 is disposed below the Z-axis driving wheel 703, the Z-axis driven wheel 704 is mounted on the Z-axis base 701, the Z-axis driving wheel 703 and the Z-axis driven wheel 704 are connected through a Z-axis driving belt, two sides of the Z-axis driving belt are respectively fixed with a manipulator linkage block 705, and the first manipulator 5 and the second manipulator 6 are respectively located at two sides of the Z-axis driving belt and respectively form a fixed connection with the manipulator linkage blocks 705 at two sides of the Z-axis driving belt. The X-axis moving mechanism 8 comprises an X-axis linear sliding table module 801 and an X-axis moving base 802, wherein two ends of the X-axis moving base 802 are fixed on a sliding block of the Y-axis moving mechanism 9, the X-axis linear sliding table module 801 is fixed on the X-axis moving base 802, and the Z-axis moving mechanism 7 is fixed on a sliding table of the X-axis linear sliding table module 801; the Y-axis moving mechanism 9 comprises a Y-axis linear sliding table module 901 and a Y-axis sliding rail sliding block assembly 902, the Y-axis linear sliding table module 901 is fixed on a first Y-axis base 903, the Y-axis sliding rail sliding block assembly 902 is fixed on a second Y-axis base 904, and bottom surfaces at two ends of the X-axis moving mechanism 8 are respectively fixed on a sliding table of the Y-axis linear sliding table module 901 and a sliding block of the Y-axis sliding rail sliding block assembly 902.

As shown in fig. 7, the label detecting apparatus 10 employs a CCD vision camera, and the sheet detecting apparatus also employs a CCD vision camera. The hood 11 is a closed hood 11 or an open hood 11, and an operation screen 111 is further arranged above the hood 11, and the operation screen 111 and a control system form telecommunication connection.

It should be noted that: in this embodiment, the X-axis linear sliding table module 801 and the Y-axis linear sliding table module 901 are conventional linear sliding table modules, which are widely used, have a plurality of purchase sources, and are convenient for purchase and use, and have high moving precision, and high recognition positioning precision by using a CCD vision camera in a matching way, so that the overall recognition positioning precision of the utility model is high, the attachment positions of the labels are accurate, the situations of misattachment or unqualified attachment labels and the like are effectively reduced, and the attachment qualification rate of the labels can be effectively improved.

The above description is only of the preferred embodiments of the present utility model, and is not intended to limit the present utility model in any way; those skilled in the art will readily appreciate that the present utility model may be implemented as shown in the drawings and described above; however, those skilled in the art should not depart from the scope of the utility model, and make various changes, modifications and adaptations of the utility model using the principles disclosed above; meanwhile, any equivalent changes, modifications and evolution made to the above embodiments according to the essential technology of the present utility model still belong to the technical scheme of the present utility model.

Claims

1. The utility model provides a duplex position vision positioning labeller, includes workstation and control system, its characterized in that: the front side of the workbench is provided with a sheet feeding mechanism, the middle of the workbench is provided with a first label feeding mechanism and a second label feeding mechanism which are arranged side by side, the upper parts of the first label feeding mechanism and the second label feeding mechanism are provided with a first manipulator and a second manipulator, the first manipulator and the second manipulator are arranged on a Z-axis moving mechanism, the Z-axis moving mechanism is slidably arranged on an X-axis moving mechanism, the X-axis moving mechanism is slidably arranged on a Y-axis moving mechanism, the workbench is also provided with a label detection device, the label detection device is positioned between the front sides of the sheet feeding mechanism and the first label feeding mechanism and the front side of the second label feeding mechanism, the upper part of the sheet feeding mechanism is provided with a sheet detection device, the sheet detection device is arranged on a machine cover, and the control system is in telecommunication connection with each mechanism to control each mechanism to coordinate work.

2. The dual-station visual positioning labeler according to claim 1 wherein: the sheet feeding mechanism comprises a sheet feeding frame, sheet conveying rollers and a sheet conveying motor, wherein the sheet feeding frame is arranged on a workbench, the sheet conveying rollers are arranged at two ends of the sheet feeding frame, a conveying belt is wound between the sheet conveying rollers at two ends, a driven wheel is arranged at one end of the sheet conveying roller, the sheet conveying motor is arranged on the sheet feeding frame through a motor fixing plate, a driving wheel is arranged at the output end of the sheet conveying motor, and transmission is realized between the driven wheel and the driving wheel through a transmission belt.

3. The dual-station visual positioning labeler according to claim 1 wherein: the first label feeding mechanism and the second label feeding mechanism are identical in structure and are connected through a connecting plate, the first label feeding mechanism and the second label feeding mechanism both comprise a feeding base, the feeding base is fixed on a workbench, a stripping table and a discharging table are arranged on the front end face of the feeding base, and a discharging inductor is arranged on the bottom face of the discharging table;

4. A dual-station vision positioning labeler as defined in claim 3 wherein: the first label feeding mechanism and the second label feeding mechanism further comprise a feeding roller, the feeding roller is mounted at the rear part of the feeding base through a roller connecting piece, a first roller, a second roller, a tensioning roller, a waste transmission roller and a waste winding roller are arranged on the inner side of the feeding base, the first roller, the second roller and the tensioning roller are sequentially arranged from high to low from the rear part to the front part, the tensioning roller is located below the stripping table, the waste winding roller is located below the first roller, the waste transmission roller is located below between the waste winding roller and the tensioning roller, the waste transmission roller is arranged below the waste transmission roller, and the upper end face of the waste transmission roller is in contact with the bottom surface of the waste transmission roller.

5. The dual-station visual positioning labeler according to claim 4 wherein: the feeding device is characterized in that a feeding motor is further arranged on the inner side of the feeding base, a feeding driving wheel is arranged at the output end of the feeding motor, a feeding middle rotating wheel is arranged at one end of the waste material transmission roller, a feeding driven wheel is arranged at one end of the waste material winding roller, transmission is achieved between the feeding driving wheel and the feeding middle rotating wheel through a transmission belt, and transmission is achieved between the feeding middle rotating wheel and the feeding driven wheel through the transmission belt.

6. The dual-station visual positioning labeler according to claim 1 wherein: the structure of the first manipulator is the same as that of the second manipulator, and the manipulator comprises a manipulator slide rail assembly, a material taking cylinder and a material taking sucker, wherein the manipulator slide rail assembly is fixed on the Z-axis moving mechanism, the material taking cylinder is arranged on a manipulator base, the manipulator base is arranged on a slide block of the manipulator slide rail assembly, and the material taking sucker is arranged on an output end of the material taking cylinder.

7. The dual-station visual positioning labeler according to claim 1 wherein: the Z-axis moving mechanism comprises a Z-axis base and a Z-axis driving motor, the Z-axis base is fixed on a sliding block of the X-axis moving mechanism, the Z-axis driving motor is fixed on the Z-axis base, a Z-axis driving wheel is arranged at the output end of the Z-axis driving motor, a Z-axis driven wheel is arranged below the Z-axis driving wheel and is installed on the Z-axis base, the Z-axis driving wheel and the Z-axis driven wheel are connected through a Z-axis transmission belt, manipulator linkage blocks are respectively fixed on two sides of the Z-axis transmission belt, and a first manipulator and a second manipulator are respectively positioned on two sides of the Z-axis transmission belt and respectively form fixed connection with the manipulator linkage blocks on two sides of the Z-axis transmission belt.

8. The dual-station visual positioning labeler according to claim 1 wherein: the X-axis moving mechanism comprises an X-axis linear sliding table module and an X-axis moving base, wherein two ends of the X-axis moving base are fixed on sliding blocks of the Y-axis moving mechanism, the X-axis linear sliding table module is fixed on the X-axis moving base, and the Z-axis moving mechanism is fixed on a sliding table of the X-axis linear sliding table module;

9. The dual-station visual positioning labeler according to claim 1 wherein: the label detection device adopts a CCD visual camera, and the sheet detection device also adopts a CCD visual camera.

10. The dual-station visual positioning labeler according to claim 1 wherein: the hood adopts a closed hood or an open hood, and an operation screen is further arranged above the hood, and the operation screen and the control system form telecommunication connection.