WO2020019590A1 - 自动贴标设备 - Google Patents

自动贴标设备 Download PDF

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Publication number
WO2020019590A1
WO2020019590A1 PCT/CN2018/116055 CN2018116055W WO2020019590A1 WO 2020019590 A1 WO2020019590 A1 WO 2020019590A1 CN 2018116055 W CN2018116055 W CN 2018116055W WO 2020019590 A1 WO2020019590 A1 WO 2020019590A1
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WIPO (PCT)
Prior art keywords
labeling
roller
label
suction
conveyor belt
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PCT/CN2018/116055
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English (en)
French (fr)
Inventor
邹伟民
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江苏传艺科技股份有限公司
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Publication of WO2020019590A1 publication Critical patent/WO2020019590A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/08—Label feeding
    • B65C9/18—Label feeding from strips, e.g. from rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/26—Devices for applying labels
    • B65C9/36—Wipers; Pressers

Definitions

  • the utility model relates to the technical field of mechanical automation equipment, in particular to an automatic labeling equipment.
  • the utility model provides an automatic labeling device, which can solve the problems of poor labeling accuracy and low efficiency.
  • the automatic labeling machine includes a frame, and a six-axis robot arm capable of obtaining or releasing a label is arranged on the frame, and a conveyor belt mechanism for conveying products is arranged below the robot arm, and the conveyor belt
  • a labeling mechanism for conveying labels is provided on the outside of one end of the mechanism, a blocking cylinder for blocking the outflow of the conveyed products is provided at one end of the conveyor belt mechanism, and a lifting mechanism for lifting the loaded product is also provided at the bottom of the conveyor belt mechanism;
  • the manipulator is composed of a shaft base, a first shaft coupling component, a first shaft arm, a second shaft coupling component, a second shaft arm, a shaft wrist, and a labeling component.
  • the labeling component includes a rotatable circle.
  • a circular component and a circular gasket connected to the shaft wrist, and two ends of the circular component extending in the diameter direction are respectively provided with suction claws and brushes that can rotate at an angle, and the circular component and the circular cushion
  • the sheets are connected through a plurality of cylinder components; the suction claw is provided with a plurality of vacuum suction holes for obtaining labels.
  • a movable sucker mechanism for adsorbing a product is provided above the conveyor belt mechanism.
  • the sucker mechanism is composed of a driving motor, a panel, a nozzle uniformly fixed on the panel, a bracket for fixing the panel, and a vacuum quick-change joint.
  • the panel is fixed on one side of the bracket, and the back of the panel has a U-shaped bayonet.
  • the bayonet is moved on the bracket by the drive of a drive motor, and the number of suction nozzles for sucking the keyboard is not less than 8.
  • the back of the suction nozzle and the vacuum quick-change joint are connected through an air pipe.
  • the product is a computer keyboard, and the keyboard is placed on a keyboard carrier board.
  • the labeling mechanism includes a motor, a label roll that rolls up the label, a first roller, a second roller, a third roller, and a labeling plate, and the first roller is located in front of the label roll.
  • the second roller is located in front of and below the first roller
  • the third roller is located behind and behind the second roller
  • the target plate is in front of the same level of the second roller.
  • the motor is connected to and drives the labeling wheel, the first roller, the second roller, the third roller and the labeling plate.
  • a control cabinet for controlling the labeling machine is provided in the rack, and an input device for inputting control instructions to the control cabinet and a display screen for performing human-machine interaction are provided in the upper part of the rack.
  • the top of the frame is also provided with an audible and visual alarm to indicate the status of the labeling machine, and the bottom of the frame is also provided with a universal wheel and a support foot.
  • the advantages of the utility model are: 1. High-speed pick-and-place and precise positioning by using the robot arm of the utility model, reducing the error rate of manual labeling and improving the quality of labeling, which is more practical; 2. Reduced labor cost, simple structure and easy operation; 3.
  • the utility model can be used for keyboard labeling on the assembly line.
  • FIG. 1 is a first schematic structural diagram of an automatic labeling device according to the present invention
  • FIG. 2 is a second schematic diagram of the structure of the automatic labeling device according to the present invention.
  • FIG. 3 is a right side view of the manipulator structure according to the present invention.
  • FIG. 4 is a front view of a manipulator structure according to the present invention.
  • FIG. 5 is a first structural schematic diagram of the bid issuing mechanism according to the present invention.
  • FIG. 6 is a second schematic diagram of the structure of the bid-out mechanism according to the present invention.
  • FIG. 7 is a schematic structural diagram of a sucker mechanism according to the present invention.
  • frame 11 control cabinet 12, universal wheel 13, support foot 14, manipulator 15, shaft base 151, first shaft coupling assembly 152, first shaft arm 153, second shaft coupling assembly 154, Second shaft arm 155, shaft wrist 156, labeling component 157, circular component 1571, circular gasket 1572, suction claw 15711, brush 15712, conveyor belt mechanism 16, transmission frame 161, limit sensor 162, Bid-out mechanism 17, label roll 171, first drum 172, second drum 173, third drum 174, presenting a label plate 175, a motor 176, a blocking cylinder 18, a jacking mechanism 19, a carrier plate 20, a suction cup mechanism 21, The panel 211, the suction nozzle 212, the bracket 213, the vacuum quick-change joint 214, and the driving motor 215.
  • the present utility model discloses an automatic labeling machine, which includes a frame 11.
  • a control cabinet 12 for controlling the labeling machine is provided in the frame, and an input to the control cabinet is provided in the upper part of the frame.
  • Input devices for control instructions and display screen for human-machine interaction are provided in the upper part of the frame.
  • the top of the rack is also equipped with an audible and visual alarm to indicate the status of the labeling machine.
  • the bottom of the rack is also equipped with universal wheels 13 and support feet 14.
  • the rack 11 is provided with a manipulator 15 that can move in the X, Y and Z directions and can obtain or release labels.
  • a conveyor belt mechanism 16 for conveying products, and one end of the conveyor belt mechanism 16 is provided for
  • a limit sensor 162 is placed on the side of the inflow and outflow end of the labeling mechanism 17 for conveying labels, and the inflow and outflow sides of the transfer rack 161 of the conveyor belt mechanism 16, and one end of the conveyor belt mechanism 16 is provided to block the outflow of the conveyed product and communicate with the limit sensor.
  • the lifting mechanism 19 can ensure that the carrier plate is horizontal relative to the labeling machine after being ejected, thereby facilitating labeling by the labeling machine;
  • the manipulator 15 includes a shaft base 151, a first shaft coupling assembly 152, a first shaft arm 153, a second shaft coupling assembly 154, a second shaft arm 155, a shaft wrist 156, and a sticker.
  • the labeling component 157 includes a rotatable circular component 1571 and a circular gasket 1572 connected to the shaft wrist.
  • the circular component 1571 is provided with suction claws 15711 and The brush 15712, the suction claw 15711 can be rotated 360 °, the circular component 1571 and the circular gasket 1572 are connected through a plurality of cylinder components; the suction claw 15711 is provided with a plurality of vacuum suction holes for obtaining labels, and the suction holes can be sucked from The label presented by the labeling mechanism.
  • the brush 15712 on the robot 15 can brush the labeled product again to achieve accurate labeling of the product.
  • the product here is mainly a keyboard, and the keyboard is placed on the carrier plate 20, and the carrier plate 20 is placed on the conveyor mechanism 16, and the robot can achieve accurate labeling at any angle.
  • the conveyor belt mechanism 16 includes an H-shaped transmission rack 161, four transmission pulleys placed on both ends of the transmission rack 161 in the same horizontal plane, the transmission belt is placed on two transmission pulleys, and the transmission pulley and a belt driving rod capable of driving the rotation of the transmission pulley Connection, the pulley drive rod is connected with the drive motor, and four pulley mechanisms are arranged under the transmission rack to prevent the transmission belt from slipping.
  • the drive motor drives the belt drive lever
  • the belt drive lever drives the conveyor belt to move.
  • the labeling mechanism 17 includes a motor 176, a labeling roller 171 for rolling up a label, a first roller 172, a second roller 173, a third roller 174, and a labeling plate 175.
  • the roller 172 is located in front of and below the label roller 171
  • the second roller 173 is located in front of and below the first roller 172
  • the third roller 174 is located below and behind the second roller 173
  • the label plate 175 is positioned on the second roller 173 In front of the same level, there is a height difference between the rollers for the label paper to pass through.
  • the motor 176 connects and drives the labeling roller 171, the first roller 172, the second roller 173, the third roller 174, and the labeling plate 175.
  • the robot 15 picks up the label, and the carrier plate 20 on which the keyboard is placed flows in through the conveyor belt, blocking the cylinder 18 from intercepting the carrier plate, and the jacking mechanism 19 below the conveyor belt mechanism 16 ejects the carrier plate 20, The robot 15 attaches the label to the product. After labeling, it is brushed once with the brush 15712 on the other side of the robot 15. The jacking mechanism 19 is lowered, and the product is placed on the carrier plate 20 to prevent the cylinder 18 from descending and the carrier plate 20 to flow out.
  • the present invention also provides a structure capable of directly attracting a keyboard.
  • the keyboard suction mechanism is a suction cup mechanism 21, which is located at a certain position above the conveyor belt.
  • the suction cup mechanism 21 is composed of a panel 211, a suction nozzle 212 uniformly fixed on the panel, a fixed panel bracket 213, and a vacuum.
  • the quick-change joint 214 and the drive motor 215 are formed.
  • the panel 211 is fixed on one side of the bracket 213.
  • the back of the panel 211 has a U-shaped bayonet, which can be moved up and down on the bracket 213 by the drive motor 215 for suction.
  • the number of suction nozzles 212 of the keyboard is not less than 8 and is evenly distributed on the panel 211, preferably 8.
  • the suction end of the suction nozzles 212 that suck the keyboard is at the bottom of the panel, the number of suction nozzles 212 and the vacuum quick-change connector 215
  • the number of the nozzles is the same or less than the number of the joints 215.
  • the non-adsorption end of the suction nozzle 212 is connected to the vacuum quick-change coupling 215 through an air pipe. This joint can exclude air and realize the vacuum adsorption of the suction nozzle.
  • the blocking cylinder 18 When the limit sensor 162 senses the inflow of the carrier plate, the blocking cylinder 18 is driven to intercept the carrier plate 20, the lifting mechanism 19 lifts out a certain position of the carrier plate 20, the suction cup mechanism 21 lowers and sucks the keyboard, the robot 15 applies the label, and brushes it once after labeling, the suction cup mechanism 21 sucks the keyboard and puts it back on the carrier plate, preventing the cylinder 18 from descending.
  • the carrier plate 20 flows out.
  • the other parts of the automatic labeling device according to the present invention are not changed in this embodiment, and will not be repeated here.
  • the six-axis robot can achieve movement in all directions, it can perform labeling at any angle and accurately identify the labeling position, so as to achieve high-precision, high efficiency, and high-speed labeling operations.Because of the conveyor belt mechanism and output With the mechanism, it can realize the original return after the product is completed, which greatly reduces the space occupation.
  • This structure can realize automatic stripping, automatic suction, automatic labeling at the bottom of the product, reducing labor costs, improving production efficiency and product quality.

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  • Labeling Devices (AREA)

Abstract

一种自动贴标设备，包括机架（11），机架（11）上设置有六轴机械手（15），机械手（15）下方设有输送产品的输送带机构（16），输送带机构（16）一端外侧设置有用于输送标签的出标机构（17），输送带机构（16）一端设有阻挡输送产品流出并与限位感应器（162）电连的阻挡气缸（18），输送带机构（16）的底部还设有用于顶升被载的产品的顶升机构（19）。该自动贴标机可以自动剥标、自动吸标、自动将标签贴到产品底部、减少人工费用，提高生产效率及产品质量，且由于采用了六轴机械手设备具备通用性，能满足不同产品贴标需求。

Description

自动贴标设备 技术领域
本实用新型涉及机械自动化设备技术领域，具体涉及一种自动贴标设备。
背景技术
在手机、平板电脑的生产组装上，需要在一个产品上贴标签，为了提高生产效率和降低生产投入生产，目前，现有的很多企业自主研发了各种各样的自动化贴标机。
早期是由人工粘贴，存在人工操作不便，经常出现偏位、漏贴、划伤、损伤、不平整等不良现象，造成辅料的浪费，并且目前公开的自动化贴标机贴标还是不够精确，在贴标签过程中标签容易发生变动，导致贴标产品的一致性出现问题。
实用新型内容
实用新型目的：为了克服现有技术的不足，本实用新型提供一种自动贴标设备，可以解决贴标准确性差、效率低的问题。
技术方案：本实用新型所述的自动贴标机，包括机架，机架上设置能取得标签或者释放标签的六轴机械手，所述机械手下方设有输送产品的输送带机构，所述输送带机构一端外侧设置有用于输送标签的出标机构，所述输送带机构一端设有阻挡输送产品流出的阻挡气缸，所述输送带机构的底部还设有用于顶升被载产品的顶升机构；
所述机械手由轴基座、第一轴联接组件、第一轴机臂、第二轴联接组件、第二轴机臂、轴手腕和贴标组件组成，所述贴标组件包括可转动的圆形组件和与所述轴手腕连接的圆形垫片，所述圆形组件延直径方向的两端分别设有可旋转角度的吸爪和毛刷，所述圆形组件与所述圆形垫片通过多个柱体组件连接；所述吸爪上设有取得标签的多个真空吸附孔。
进一步的，所述输送带机构的上方设有可移动的吸附产品的吸盘机构，所述吸盘机构由驱动电机、面板、均匀固定在面板上的吸嘴、固定面板的支架以及真空快换接头组成，所述面板固定在支架的一侧，面板背面有个U型卡口，所述卡口在驱动电机的驱动下在支架上移动，用于吸取键盘的吸嘴的数量不少于8个，所述吸嘴背部和所述真空快换接头通过气管连接。
进一步的，所述产品为电脑键盘，所述键盘放置在键盘载板上。
进一步的，所述出标机构包括电机、将标签卷起的卷标轮、第一滚筒、第二滚筒、 第三滚筒和呈标板组成，所述第一滚筒位于所述卷标轮的前下方，所述第二滚筒位于所述第一滚筒的前下方，所述第三滚筒置于所述第二滚筒的后下方，所述呈标板在所述第二滚筒同一水平的前面，所述电机连接并驱动所述卷标轮、第一滚筒、第二滚筒、第三滚筒和呈标板。
进一步的，所述机架内设有控制所述贴标机的控制柜，所述机架的上部还设有向控制柜输入控制指令的输入设备以及进行人机交互的显示屏，所述机架的顶部还设有提示贴标机状态的声光报警器，所述机架底部还设有万向轮和支撑脚。
工作流程：六轴机械手的吸爪从出标机构上取的标签，当输送带上的载板流入，阻挡气缸对载板进行阻挡，顶升机构将载板顶出，吸盘机构下降吸附键盘，机械手贴标签，贴标后用毛刷刷一遍，吸盘机构吸附键盘放回到载板上，阻挡气缸下降载板流出。
有益效果：与现有技术相比，本实用新型的优点是：1、利用本实用新型的机械手进行高速取放、精密定位，减少人工贴标的错误率和提高贴标质量，实用性更强；2、减少了人工成本，结构简单易于操作；3、本实用新型可以用于流水线上的键盘贴标。
附图说明
图1是本实用新型所述的自动贴标设备的结构示意图一；
图2是本实用新型所述的自动贴标设备的结构示意图二；
图3是本实用新型所述的机械手结构的右视图；
图4是本实用新型所述的机械手结构的主视图；
图5为本实用新型所述的出标机构的结构示意图一；
图6为本实用新型所述的出标机构的结构示意图二；
图7为本实用新型所述的吸盘机构的结构示意图。
图中包括：机架11，控制柜12，万向轮13，支撑脚14，机械手15，轴基座151，第一轴联接组件152，第一轴机臂153，第二轴联接组件154，第二轴机臂155，轴手腕156，贴标组件157，圆形组件1571，圆形垫片1572，吸爪15711，毛刷15712，输送带机构16，传输架161，限位感应器162，出标机构17，卷标轮171，第一滚筒172，第二滚筒173，第三滚筒174，呈标板175，电机176，阻挡气缸18，顶升机构19，载板20，吸盘机构21，面板211，吸嘴212，支架213，真空快换接头214，驱动电机215。
具体实施方式
如图1和2所示，本实用新型公开了一种自动贴标机，包括机架11，机架内设有控 制贴标机的控制柜12，机架的上部还设有向控制柜输入控制指令的输入设备以及进行人机交互的显示屏，机架的顶部还设有提示贴标机状态的声光报警器，机架底部还设有万向轮13和支撑脚14。
机架11上设置有能在X方向、Y方向和Z方向移动并能取得标签或者释放标签的机械手15，机械手15下方设有输送产品的输送带机构16，输送带机构16一端外侧设置有用于输送标签的出标机构17，输送带机构16的传输架161的流入流出端的侧面分别放置一个限位感应器162，输送带机构16一端设有阻挡输送产品流出并与所述限位感应器电连的阻挡气缸18，当限位感应器162感应到载板流入，阻挡气缸18对载板进行阻挡，输送带机构16的底部还设有用于顶升被载的产品的顶升机构19，顶升机构19可以保证将载板顶出后相对贴标机水平，从而方便贴标机贴标；
如图3和图4所示，机械手15由轴基座151、第一轴联接组件152、第一轴机臂153、第二轴联接组件154、第二轴机臂155、轴手腕156和贴标组件157组成，贴标组件157包括可转动的圆形组件1571和与所述轴手腕连接的圆形垫片1572，所述圆形组件1571延直径方向的两端分别设有吸爪15711和毛刷15712，吸爪15711可以360゜旋转，圆形组件1571与圆形垫片1572通过多个柱体组件连接；吸爪15711上设有取得标签的多个真空吸附孔，吸附孔可以吸取从出标机构呈现的标签，机械手15上的毛刷15712可以将贴好标签后的产品重新刷一遍，实现产品的精确贴标。此处产品主要是键盘，并且键盘是放置在载板20上，载板20放在输送带机构16上，该机械手可以实现任意角度的精确贴标。
输送带机构16包括H型传输架161，置于传输架161两端位于同一水平面内的四个传输皮带轮，传输带置于两个传输皮带轮上，传输皮带轮与能驱动传输皮带轮转动的皮带驱动杆连接，皮带轮驱动杆与驱动电机连接，传输架下方设置有防止传输带打滑的4个滑轮机构。当驱动电机驱动皮带驱动杆运转，皮带驱动杆驱动传输带运动。
如图5和图6所示，出标机构17包括电机176、将标签卷起的卷标轮171、第一滚筒172、第二滚筒173、第三滚筒174和呈标板175组成，第一滚筒172位于卷标轮171的前下方，第二滚筒173位于所述第一滚筒172的前下方，第三滚筒174置于所述第二滚筒173的后下方，呈标板175在第二滚筒173同一水平的前面，滚筒之间设置有供标签纸穿过的高度差，电机176连接并驱动卷标轮171、第一滚筒172、第二滚筒173、第三滚筒174和呈标板175。
出标机构17将标签出示后，机械手15吸取标签，放置键盘的载板20通过传输带流入，阻挡气缸18拦截载板，输送带机构16下方的顶升机构19，将载板20顶出，机械手15将标签贴在产品上，贴标后用机械手15另一侧的毛刷15712刷一遍，顶升机构19下降，将产品放置到载板20上，阻挡气缸18下降，载板20流出。
为了减少机械手的动作，本实用新型还提供一种可以直接吸附键盘的结构。该吸附键盘的机构为吸盘机构21，该机构设置于输送带上方一定的位置，如图7所示，吸盘机构21由面板211、均匀固定在面板上的吸嘴212、固定面板支架213和真空快换接头214和驱动电机215组成，面板211固定在支架213的一侧，面板211背面有个U型卡口，该卡口可在驱动电机215作用下在支架213上上下移动，用于吸取键盘的吸嘴212的数量不少于8个，均匀分布在面板211上，优选为8个，吸取键盘的吸嘴212的吸附端在面板的底部，吸嘴212个数和真空快换接头215的个数一致或少于接头215的个数，吸嘴212非吸附端通过气管与真空快换接头215连接，该接头可以排除空气进而实现吸嘴的真空吸附。首先调整吸盘机构21的位置到键盘的键帽上，当机械手15取标，载板20通过传输带机构16流入，当限位感应器162感应到载板流入后，驱动阻挡气缸18拦截载板20，顶升机构19顶出载板20一定位置，吸盘机构21下降吸附键盘，机械手15贴标，贴标后用毛刷刷一遍，吸盘机构21吸附键盘放回载板，阻挡气缸18下降，载板20流出。本实用新型所述的自动贴标设备其他部分在本实施例中没有改动，在此不再赘述。由于六轴机械手能实现各个方向的运动，其能够进行任意角度的贴标签，能准确识别贴标位置，从而达到高精度、高效率、高速度进行贴标操作，并且由于设置了输送带机构和输出带机构，能实现产品完成后原路返回，大大减小空间的占用，该结构可以实现自动剥标、自动吸标、自动将标签贴到产品底部、减少人工费用，提高生产效率及产品质量。

Claims (6)

  1. 一种自动贴标设备，用于流水线上键盘的贴标，包括机架(11)，其特征在于，机架(11)上设置能取得标签或者释放标签的六轴机械手(15)，所述机械手(15)下方设有输送产品的输送带机构(16)，所述输送带机构(16)一端外侧设置用于输送标签的出标机构(17)，所述输送带机构(16)一端设有阻挡输送产品流出的阻挡气缸(18)，所述输送带机构(16)的底部还设有用于顶升被载产品的顶升机构(19)。
  2. 根据权利要求1所述的自动贴标设备，其特征在于，所述机械手(15)由轴基座(151)、第一轴联接组件(152)、第一轴机臂(153)、第二轴联接组件(154)、第二轴机臂(155)、轴手腕(156)和贴标组件(157)组成，所述贴标组件(157)包括可转动的圆形组件(1571)和与所述轴手腕连接的圆形垫片(1572)，所述圆形组件(1571)延直径方向的两端分别设有可旋转角度的吸爪(15711)和毛刷(15712)，所述圆形组件(1571)与所述圆形垫片(1572)通过多个柱体组件连接；所述吸爪(15711)上设有取得标签的多个真空吸附孔。
  3. 根据权利要求1所述的自动贴标设备，其特征在于，所述输送带机构(16)的上方设有可移动的吸附产品的吸盘机构(21)；
  4. 根据权利要求3所述的自动贴标设备，其特征在于，所述吸盘机构(21)由面板(211)、均匀固定在面板上的吸嘴(212)、固定面板的支架(213)、真空快换接头(214)以及驱动电机(215)组成，所述面板(211)固定在支架(213)的一侧，面板(211)背面有个U型卡口，卡口在驱动电机(215)的驱动下在支架(213)上移动，用于吸取键盘的吸嘴(212)的数量不少于8个，所述吸嘴(212)非吸附端和所述真空快换接头(214)通过气管连接。
  5. 根据权利要求1所述的自动贴标设备，其特征在于，所述出标机构(17)包括将标签卷起的卷标轮(171)、第一滚筒(172)、第二滚筒(173)、第三滚筒(174)、呈标板(175)和电机(176)，所述第一滚筒(172)位于所述卷标轮(171)的前下方，所述第二滚筒(173)位于所述第一滚筒(172)的前下方，所述第三滚筒(174)置于所述第二滚筒(173)的后下方，所述呈标板(175)在所述第二滚筒(173)同一水平的前面，所述电机(176)连接并驱动所述卷标轮(171)、第一滚筒(172)、第二滚筒(173)、第三滚筒(174)和呈标板(175)。
  6. 根据权利要求1所述的自动贴标设备，其特征在于，所述机架(11)内设有控制所述贴标机的控制柜(12)，所述机架(11)的上部还设有向控制柜(12)输入控制 指令的输入设备以及进行人机交互的显示屏，所述机架(11)的顶部还设有提示贴标机状态的声光报警器，所述机架底部还设有万向轮(13)和支撑脚(14)。
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