CN104443616A - Automatic labeling machine of six-axis mechanical arm - Google Patents
Automatic labeling machine of six-axis mechanical arm Download PDFInfo
- Publication number
- CN104443616A CN104443616A CN201410486972.6A CN201410486972A CN104443616A CN 104443616 A CN104443616 A CN 104443616A CN 201410486972 A CN201410486972 A CN 201410486972A CN 104443616 A CN104443616 A CN 104443616A
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- China
- Prior art keywords
- axis robot
- stripping
- labeling machine
- automatic labeling
- axle
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Classifications
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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
- B65C9/12—Removing separate labels from stacks
- B65C9/14—Removing separate labels from stacks by vacuum
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- Labeling Devices (AREA)
Abstract
The invention discloses an automatic labeling machine of a six-axis mechanical arm. The automatic labeling machine of the six-axis mechanical arm comprises a labeling machine body, an upper rack set, a three-section belt line, a positioning system, a label peeling machine set, a label sucking set and a six-axis mechanical arm, wherein the upper rack set is fixedly mounted on the labeling machine body; the three-section belt line is arranged on the side edge of the labeling machine body; the label peeling machine set is mounted on the upper rack set; the six-axis mechanical arm is fixedly mounted on the labeling machine body; the label sucking set sleeves the six-axis mechanical arm. The automatic labeling machine of the six-axis mechanical arm has the characteristics that labels are taken and arranged at high rate and are precisely positioned; the manual labeling error rate is reduced; the labeling quality is improved; a pentagonal suction disc rotates and sucks a plurality of labels; a plurality of labels can be simultaneously pasted to notebook computers.
Description
Technical field
The present invention relates to a kind of labelling machine, especially a kind of six axis robot automatic labeling machine.
Background technology
In notebook production process, illustrating to react configuring condition, authentication credential and the Related products such as notebook outer frequency, hard-disk interface, independent video memory strictly according to the facts, needing to paste various label on its housing.The notebook product category of producing is more, each product has oneself each self-corresponding label formats, labelling machine on market is merely able to label single, need when labeling multiple operation or multiple step could realize the stickup of multiple label, two can not to be met on notebook with labelling operation while label.
Six axis robot has to imitate human arm function and the automatic control device that can complete various operation, this robot system has multi-joint to link and saves permission carries out moving or use linear displacement to move in plane or three-dimensional space, sets its certain required movement by formula according to job requirements.The running of robot moves an arm by direct motor drive, opens or closes the action of a clip, and be fed back to the controller of FPGA (Field Programmable Gate Array) accurately.This operatorless device machinery is that key element is asked to complete the action of " wrist and hand ", after sequence of events can being inputted by skilled operator, just can according to sample according to do and repeatedly complete many times correct rule operate.
Summary of the invention
For the deficiencies in the prior art, the object of the present invention is to provide a kind of six axis robot automatic labeling machine, make full use of that six axis robot height picks and places, pinpoint advantage, to meet on notebook labelling operation while multiple labels.
In order to achieve the above object, the invention provides a kind of six axis robot automatic labeling machine, comprise labelling machine body, added group, three sections belt line, position fixing system, stripping unit, suction mark group and six axis robots, described added group is fixedly mounted on described labelling machine body, described three sections of belt line are arranged at described labelling machine body side, described stripping unit is arranged in described added group, described six axis robot is fixedly mounted on described labelling machine body, and described suction mark group is socketed on described six axis robot.
Described labelling machine underpart is provided with roller, and top is provided with registration device and the rack for placing stripping unit.
Described added group of top is protruded framework and is provided with alignment mark device, and axle framework is fixed with read out instrument.
Described three sections of belt line comprise front carriage, middle conveyor surface, rear carriage, drive motor, infrared induction device, roller and are sheathed on the belt conveyor of roller surface.
Described position fixing system comprises the registration device be arranged on labelling machine body, be arranged on alignment mark device on added group and read out instrument.
Described stripping unit comprises stripping body, conveyer, stripping device, controller and actuating device.
Described stripping body is fixedly mounted on labelling machine body, described conveyer comprises the discharge mechanism, transmission shaft, stretching device and the receiving mechanism that are vertically mounted on stripping body, described stripping device comprises the stripping knife plate, guide plate and the adsorption plate that are vertically mounted on stripping body, described controller is fixedly installed on stripping After-Body, and described actuating device to be fixedly installed in the middle part of stripping body and to be in transmission connection with conveyer.
Described suction mark group comprises five corner post suckers and by binding bolt suction pawl fixed thereon, be provided with the sleeve joint hole be socketed with six axis robot in the middle part of described sucker, described suction pawl is provided with breather pipe, dielectric resilience Attraction block and runs through the adsorption hole structure of Attraction block.
Described six axis robot is made up of axle pedestal, first order axle link arm, first order axle horn, second stage axle link arm, second stage axle horn and axle wrist, described axle wrist can with suction mark group seamless socket.
The invention has the beneficial effects as follows: six axis robot automatic labeling machine of the present invention, have pick and place at a high speed, the feature of precise placement, reduce the error rate of artificial labeling and improve labeling quality, utilize five jiaos of multiple labels of sucker Rotary adsorption, multiple labels of notebook PC can be realized and attach operation simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of six axis robot automatic labeling machine of the present invention;
Fig. 2 is the front elevation of six axis robot automatic labeling machine of the present invention;
Fig. 3 is the birds-eye view of six axis robot automatic labeling machine of the present invention;
Fig. 4 is the structural representation of labelling machine body of the present invention;
Fig. 5 is the structural representation of added group of the present invention;
Fig. 6 is the structural representation of three sections of belt line of the present invention;
Fig. 7 is the structural representation of stripping unit of the present invention;
Fig. 8 is the lateral plan of stripping unit of the present invention;
Fig. 9 is the structural representation of suction mark group of the present invention;
Figure 10 is the structural representation of six axis robot of the present invention;
In figure: 1-labelling machine body; 11-roller; 12-rack; Added group of 2-; 3-tri-sections of belt line; Carriage before 31-; Conveyor surface in 32-; Carriage after 33-; 34-drive motor; 35-infrared induction device; 36-roller; 37-belt conveyor; 4-stripping unit; 41-stripping body; 42-conveyer; 421-discharge mechanism; 422-transmission shaft; 423-stretching device; 424-receiving mechanism; 43-stripping device; 431-stripping knife plate; 432-guide plate; 433-adsorbs version; 44-controller; 45-actuating device; 46-label tape; 5-inhales mark group; 51-sucker; 52-sleeve joint hole; 53-inhales pawl; 54-Attraction block; 55-adsorption hole; 56-breather pipe; 6-six axis robot; 61-axle pedestal; 62-binding bolt; 63-first order axle link arm; 64-first order axle horn; 65-axle wrist; 66-second stage axle horn; 67-second stage axle link arm; 7-position fixing system; 71-alignment mark device; 72-registration device; 73-read out instrument; 8-notebook workpiece.
Detailed description of the invention
Below by embodiment, the invention will be further described by reference to the accompanying drawings.
As Fig. 1, shown in 2, a kind of six axis robot automatic labeling machine, comprise labelling machine body (1), added group (2), three sections of belt line (3), position fixing system (7), stripping unit (4), inhale mark group (5) and six axis robot (6), described added group (2) are fixedly mounted on described labelling machine body (1), described three sections of belt line (3) are arranged at described labelling machine (1) body side, described stripping unit (4) is arranged in described added group (2), described six axis robot (6) is fixedly mounted on described labelling machine body (1), described suction mark group (5) is socketed on described six axis robot (6).
Described labelling machine body (1) bottom is provided with roller (11), and top is provided with registration device (72) and the rack (11) for placing stripping unit.
Described added group of (2) top is protruded framework and is provided with alignment mark device (71), axle framework is fixed with read out instrument (73).
Described three sections of belt line (3) comprise front carriage (31), middle conveyor surface (32), rear carriage (33), drive motor (34), infrared induction device (35), roller (36) and are sheathed on the belt conveyor (37) of roller surface.
Described position fixing system (7) comprises the registration device (71) be arranged on labelling machine body, be arranged on alignment mark device (72) on added group and read out instrument (73).
Described stripping unit (4) comprises stripping body (41), conveyer (42), stripping device (43), controller (44) and actuating device (45).
Described stripping body (41) is fixedly mounted on labelling machine body (1), described conveyer (42) comprises the discharge mechanism (421) be vertically mounted on stripping body (41), transmission shaft (422), stretching device (423) and receiving mechanism (424), described stripping device (43) comprises the stripping knife plate (431) be vertically mounted on stripping body, guide plate (432) and adsorption plate (433), described controller (44) is fixedly installed on stripping body (41) rear portion, described actuating device (45) is fixedly installed on stripping body (41) middle part and is in transmission connection with conveyer (42).
Described suction mark group (5) comprises five corner post suckers (51) and passes through binding bolt suction pawl (53) fixed thereon, described sucker (51) middle part is provided with the sleeve joint hole (52) be socketed with six axis robot (6), and described suction pawl (53) is provided with breather pipe (56), dielectric resilience Attraction block (54) and runs through the adsorption hole structure (55) of Attraction block.
Described six axis robot (6) is made up of axle pedestal (61), first order axle link arm (63), first order axle horn (64), second stage axle link arm (67), second stage axle horn (66) and axle wrist (65), described axle wrist (65) can with suction mark group (5) seamless socket.
In the present embodiment, concrete operations work flow is as follows:
Conveying operation: the drive motor (34) on three sections of belt line (3) and front carriage (31), middle conveyor surface (32), roller (36) on rear carriage (33) is in transmission connection, when carriage (31) is sent to middle conveyor surface (32) to notebook workpiece (8) in the past, the upper infrared induction device (35) of middle conveyor surface (32) will be responded to, roller (36) before Systematical control on carriage (31) stops operating, by the alignment mark device (71) on added group (2), notebook position is adjusted, mark accuracy rate can be observed and revise by read out instrument (73), after completing Deng notebook workpiece (1) labeling, notebook workpiece (8) is sent to rear carriage (33) by middle conveyor surface (32), infrared induction device (35) on rear carriage (34) is responded to, during system controls immediately, before conveyor surface (32) reset control simultaneously, carriage (31) upper roller (36) starts to rotate, carry out the conveying operation of next notebook workpiece (8).
Stripping operation: stripping unit (4) is fixedly installed on labelling machine body (1), discharge mechanism (421) has been installed label tape (46) volume, stub bar label tape (46) rolled up is extracted out, by setting direction of transfer, label tape (46) is passed transmission shaft (422), stretching device (423), stripping knife plate (431), guide plate (432) and adsorption plate (433) successively, is finally wound in receiving mechanism (424) upper fixing, switch on power, actuating device (45) drives conveyer (42) to rotate, label tape (46) is when stripping knife plate (431), label is stripped from base stock and is delivered to adsorption plate (433) through guide plate (432), instruction assigned by controller (44) makes adsorption plate (433) generation vacuum suction label make actuating device (45) stop operating simultaneously, inhale mark group (5) by label tape (46) identifies mark mark, controller is transmitted a signal to after contraposition completes, instruction assigned by controller (44) makes adsorption plate (433) stop vacuum suction label to make actuating device (45) start to rotate simultaneously, base stock after peeling label is sent to receiving mechanism (424) through transmission shaft (422) and collects, what whole stripping device (43) can follow adsorption plate label takes rhythm to realize the automatic stripping of label, ensure label adsorption plate (423) needing all the time got.
Inhale the operation of mark pressure mark: six axis robot (6) is fixed on labelling machine body (1) by the binding bolt (62) on axle pedestal (61), the mutual angle of the first order axle link arm (63) in adjustment six axis robot (6), first order axle horn (64), second stage axle link arm (67), second stage axle horn (66) and axle wrist (65), controls the position of sucker (51) being inhaled pawl (53); When inhaling mark operation, first adjusting position by six axis robot (6) allows a suction pawl (53) be in suction cursor position, second stage axle horn (66) presses down and makes suction pawl (53) adsorb first label, inhale mark to complete and after departing from, allowing axle wrist (65) rotate 36 degree again makes next pawl (53) of inhaling be in suction cursor position, carry out second time and inhale mark, repeat operation until adsorb the number of tags reaching and need to paste; During the operation of pressure mark, adjustment six axis robot (6) makes suction pawl (53) be in pressure cursor position, accurately located by the registration device (71) on labelling machine, after having located, repeated rotation axle wrist (65) marks operation to realize repeating pressure again, after the operation of pressure mark completes, six axis robot (6) resets, and inhales the operation of mark pressure mark next time.
Claims (9)
1. a six axis robot automatic labeling machine, comprise labelling machine body, added group, three sections belt line, position fixing system, stripping unit, suction mark group and six axis robots, it is characterized in that: described added group is fixedly mounted on described labelling machine body, described three sections of belt line are arranged at described labelling machine body side, described stripping unit is arranged in described added group, described six axis robot is fixedly mounted on described labelling machine body, and described suction mark group is socketed on described six axis robot.
2. a kind of six axis robot automatic labeling machine according to claim 1, it is characterized in that: described labelling machine underpart is provided with roller, top is provided with registration device and the rack for placing stripping unit.
3. a kind of six axis robot automatic labeling machine according to claim 1, is characterized in that: described added group of top is protruded framework and is provided with alignment mark device, and axle framework is fixed with read out instrument.
4. a kind of six axis robot automatic labeling machine according to claim 1, is characterized in that: described three sections of belt line comprise front carriage, middle conveyor surface, rear carriage, drive motor, infrared induction device, roller and are sheathed on the belt conveyor of roller surface.
5. a kind of six axis robot automatic labeling machine according to claim 1, is characterized in that: described position fixing system comprises the registration device be arranged on labelling machine body, be arranged on alignment mark device on added group and read out instrument.
6. a kind of six axis robot automatic labeling machine according to claim 1, is characterized in that: described stripping unit comprises stripping body, conveyer, stripping device, controller and actuating device.
7. a kind of six axis robot automatic labeling machine according to claim 6, it is characterized in that: described stripping body is fixedly mounted on labelling machine body, described conveyer comprises the discharge mechanism, transmission shaft, stretching device and the receiving mechanism that are vertically mounted on stripping body, described stripping device comprises the stripping knife plate, guide plate and the adsorption plate that are vertically mounted on stripping body, described controller is fixedly installed on stripping After-Body, and described actuating device to be fixedly installed in the middle part of stripping body and to be in transmission connection with conveyer.
8. a kind of six axis robot automatic labeling machine according to claim 1, it is characterized in that: described suction mark group comprises five corner post suckers and by binding bolt suction pawl fixed thereon, be provided with the sleeve joint hole be socketed with six axis robot in the middle part of described sucker, described suction pawl is provided with breather pipe, dielectric resilience Attraction block and runs through the adsorption hole structure of Attraction block.
9. a kind of six axis robot automatic labeling machine according to claim 1, it is characterized in that: described six axis robot is made up of axle pedestal, first order axle link arm, first order axle horn, second stage axle link arm, second stage axle horn and axle wrist, described axle wrist can with suction mark group seamless socket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486972.6A CN104443616A (en) | 2014-09-22 | 2014-09-22 | Automatic labeling machine of six-axis mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486972.6A CN104443616A (en) | 2014-09-22 | 2014-09-22 | Automatic labeling machine of six-axis mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN104443616A true CN104443616A (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410486972.6A Pending CN104443616A (en) | 2014-09-22 | 2014-09-22 | Automatic labeling machine of six-axis mechanical arm |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934107A (en) * | 2017-11-28 | 2018-04-20 | 苏州弘瀚自动化科技有限公司 | A kind of stripping labels equipment integrating |
| CN108213927A (en) * | 2018-01-08 | 2018-06-29 | 广东金弘达自动化科技股份有限公司 | Host power supply erecting device and its installation method |
| CN108545277A (en) * | 2018-06-05 | 2018-09-18 | 重庆市灵龙自动化设备有限公司 | With the device for labeling for overturning and raising function |
| CN108688920A (en) * | 2018-06-05 | 2018-10-23 | 重庆市灵龙自动化设备有限公司 | Band raises the labelling machine of function automatically |
| CN108691862A (en) * | 2017-04-10 | 2018-10-23 | 昆山汉鼎精密金属有限公司 | Automation patch foam device |
| CN108773550A (en) * | 2018-09-05 | 2018-11-09 | 重庆市灵龙自动化设备有限公司 | Laptop outer container labeling device |
| CN109094918A (en) * | 2018-09-05 | 2018-12-28 | 重庆市灵龙自动化设备有限公司 | Label attaching device for laptop outer container |
| CN109515903A (en) * | 2018-12-30 | 2019-03-26 | 苏州市厚宏智能科技有限公司 | Label sticking machine |
| CN109515898A (en) * | 2018-12-30 | 2019-03-26 | 苏州市厚宏智能科技有限公司 | Infusion bag transmission device and method |
| CN109606885A (en) * | 2019-01-11 | 2019-04-12 | 东莞市中电爱华电子有限公司 | A kind of labeling apparatus and labeling method communicating cabinet |
| CN109808976A (en) * | 2019-01-29 | 2019-05-28 | 江西理工大学 | A kind of cycle frame automatic labeling system and its method |
| CN109823644A (en) * | 2019-03-22 | 2019-05-31 | 杭州润笙包装制品有限公司 | A kind of automatic labeling equipment |
| CN111762411A (en) * | 2020-07-09 | 2020-10-13 | 长沙山普智能科技有限公司 | Scroll automatic labeling machine |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108691862A (en) * | 2017-04-10 | 2018-10-23 | 昆山汉鼎精密金属有限公司 | Automation patch foam device |
| CN107934107A (en) * | 2017-11-28 | 2018-04-20 | 苏州弘瀚自动化科技有限公司 | A kind of stripping labels equipment integrating |
| CN108213927A (en) * | 2018-01-08 | 2018-06-29 | 广东金弘达自动化科技股份有限公司 | Host power supply erecting device and its installation method |
| CN108545277B (en) * | 2018-06-05 | 2023-07-21 | 重庆市灵龙自动化设备有限公司 | Label sticking device with overturning and lifting functions |
| CN108545277A (en) * | 2018-06-05 | 2018-09-18 | 重庆市灵龙自动化设备有限公司 | With the device for labeling for overturning and raising function |
| CN108688920A (en) * | 2018-06-05 | 2018-10-23 | 重庆市灵龙自动化设备有限公司 | Band raises the labelling machine of function automatically |
| CN108688920B (en) * | 2018-06-05 | 2023-07-21 | 重庆市灵龙自动化设备有限公司 | Labeller with automatic lifting function |
| CN108773550A (en) * | 2018-09-05 | 2018-11-09 | 重庆市灵龙自动化设备有限公司 | Laptop outer container labeling device |
| CN109094918A (en) * | 2018-09-05 | 2018-12-28 | 重庆市灵龙自动化设备有限公司 | Label attaching device for laptop outer container |
| CN109094918B (en) * | 2018-09-05 | 2023-10-20 | 重庆市灵龙自动化设备有限公司 | Label attaching equipment for notebook computer outer box |
| CN108773550B (en) * | 2018-09-05 | 2023-10-20 | 重庆市灵龙自动化设备有限公司 | Labeling equipment for notebook computer outer box |
| CN109515898A (en) * | 2018-12-30 | 2019-03-26 | 苏州市厚宏智能科技有限公司 | Infusion bag transmission device and method |
| CN109515903A (en) * | 2018-12-30 | 2019-03-26 | 苏州市厚宏智能科技有限公司 | Label sticking machine |
| CN109606885A (en) * | 2019-01-11 | 2019-04-12 | 东莞市中电爱华电子有限公司 | A kind of labeling apparatus and labeling method communicating cabinet |
| CN109808976A (en) * | 2019-01-29 | 2019-05-28 | 江西理工大学 | A kind of cycle frame automatic labeling system and its method |
| CN109823644A (en) * | 2019-03-22 | 2019-05-31 | 杭州润笙包装制品有限公司 | A kind of automatic labeling equipment |
| CN111762411A (en) * | 2020-07-09 | 2020-10-13 | 长沙山普智能科技有限公司 | Scroll automatic labeling machine |
| CN111762411B (en) * | 2020-07-09 | 2022-01-11 | 长沙山普智能科技有限公司 | Scroll automatic labeling machine |
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