阅读说明：本技术 一种带机械手的自动贴标机及贴标方法 (Automatic labeling machine with manipulator and labeling method ) 是由 束传松 景万峰 于 2019-11-13 设计创作，主要内容包括：本发明公开了一种带机械手的自动贴标机及贴标方法,所述自动贴标机包括贴标装置、控制装置和检测装置；所述贴标装置包括蜘蛛形机械手、固定支架、旋转支架、摆动机构和取标签机构,所述固定支架安装在所述蜘蛛形机械手的旋转轴下端,所述旋转支架可转动安装在所述固定支架的下端,所述摆动机构与所述旋转支架连接,所述取标签机构安装在所述旋转支架上；所述控制装置,用于控制所述贴标装置,所述控制装置包括单片机；所述检测装置,用于检测所述贴标装置的位置,并反馈给所述控制装置,所述检测装置包括光电传感器。本发明的带机械手的自动贴标机及贴标方法,能适应更多产品类型,降低成本。(The invention discloses an automatic labeling machine with a manipulator and a labeling method, wherein the automatic labeling machine comprises a labeling device, a control device and a detection device; the labeling device comprises a spider-shaped manipulator, a fixed support, a rotating support, a swinging mechanism and a label taking mechanism, wherein the fixed support is mounted at the lower end of a rotating shaft of the spider-shaped manipulator, the rotating support is rotatably mounted at the lower end of the fixed support, the swinging mechanism is connected with the rotating support, and the label taking mechanism is mounted on the rotating support; the control device is used for controlling the labeling device and comprises a single chip microcomputer; the detection device is used for detecting the position of the labeling device and feeding back the position to the control device, and the detection device comprises a photoelectric sensor. The automatic labeling machine with the manipulator and the labeling method can adapt to more product types and reduce the cost.)

1. An automatic labeling machine with a manipulator is characterized by comprising a labeling device, a control device and a detection device; the labeling device comprises a spider-shaped manipulator, a fixed support, a rotating support, a swinging mechanism and a label taking mechanism, wherein the fixed support is mounted at the lower end of a rotating shaft of the spider-shaped manipulator, the rotating support is rotatably mounted at the lower end of the fixed support, the swinging mechanism is connected with the rotating support, and the label taking mechanism is mounted on the rotating support;

the control device is used for controlling the labeling device and comprises a single chip microcomputer;

the detection device is used for detecting the position of the labeling device and feeding back the position to the control device, and the detection device comprises a photoelectric sensor.

2. The automatic labeling machine with manipulator according to claim 5, wherein the labeling device further comprises a label pressing plate mounted at the lower end of the rotating bracket, a labeling hole is formed in the label pressing plate, the labeling end of the label taking mechanism extends into the labeling hole, and the labeling end of the label taking mechanism and the lower surface of the label pressing plate are located on the same plane.

3. The automatic labeling machine with manipulator according to claim 5, wherein said label taking mechanism comprises a vacuum generator and a vacuum suction head connected with said vacuum generator, said vacuum generator is mounted on said fixed support, said vacuum suction head is mounted on said rotating support, and a suction cup of said vacuum suction head and a lower surface of said label pressing plate are located on the same plane.

4. The automatic labeling machine with a manipulator according to claim 5, further comprising a transport mechanism and a label peeling mechanism, wherein the transport mechanism labeling device is located below the labeling device, the label peeling mechanism is located on one of two sides of the transport mechanism in the transport direction, and the transport mechanism and the label peeling mechanism are electrically connected to the control device.

5. The automatic labeling machine with manipulator according to claim 4, characterized in that said conveying mechanism comprises a drum conveyor belt electrically connected to said control device and a blocking device located below said drum conveyor belt and corresponding to the position of said labeling device, said blocking device comprising a first lifting drive mechanism and a blocking plate connected to said first lifting drive mechanism, said blocking plate being located in the gap between adjacent drums of said drum conveyor belt.

6. The automatic labeling machine with a manipulator according to claim 5, wherein the conveying mechanism further comprises a jacking device located below the drum conveyer belt and electrically connected with the control device, the jacking device is arranged on one side of the blocking device close to the feed inlet of the conveying mechanism, the jacking device comprises a second lifting driving mechanism and at least two jacking plates connected with the second lifting driving mechanism, and each jacking plate is located in a gap between adjacent corresponding drums of the drum conveyer belt.

7. The automatic labeling machine with the manipulator according to claim 6, wherein the conveying mechanism further comprises a guiding device, the guiding device comprises supporting frames mounted on two sides of the conveying direction of the conveying mechanism, a guiding guardrail located above the roller of the roller conveying belt is arranged on each supporting frame, a first end opening of the two-side guiding guardrail far away from the conveying mechanism feed port is matched with the size of the box body, a second end opening of the two-side guiding guardrail close to the conveying mechanism feed port is matched with the length of the roller conveying belt, and the first end and the second end of the two-side guiding guardrail are in circular arc transition.

8. The automatic labeling machine with a manipulator according to claim 7, further comprising visual detection means on both sides of the conveying direction of the conveying means, the visual detection means being provided at an end near the discharge port of the conveying means.

9. The automatic labeling machine with a manipulator according to claim 8, further comprising a support frame, wherein the conveying mechanism is mounted on a lower portion of the support frame, the labeling device is mounted on a top portion of the support frame opposite to the conveying mechanism, and the label peeling mechanism and the visual inspection mechanism are both mounted on the support frame.

10. A labeling method is characterized by comprising the following steps:

the control device calls a labeling program corresponding to a product to be labeled;

conveying the product to be labeled to a labeling station through a conveying mechanism;

the fixed support is arranged at the lower end of a rotating shaft of the spider-shaped manipulator and driven by the spider-shaped manipulator to move, so that the rotating support rotationally connected with the lower end of the fixed support is driven to move to the label stripping mechanism, and the label taking mechanism arranged on the rotating support is used for obtaining a label on the label stripping mechanism;

the spider-shaped manipulator receives the corresponding labeling program instruction, the label taking mechanism is moved to a corresponding position, a rotating shaft of the spider-shaped manipulator and the swinging mechanism connected with the rotating support are matched with each other, the labeling end of the label taking mechanism is rotated to correspond to the labeling position, and the labeling end of the label taking mechanism is used for labeling a product to be labeled.

Technical Field

The invention relates to a product labeling technology, in particular to an automatic labeling machine with a manipulator and a labeling method.

Background

In modern society, many commodities need to be labeled, and the label may include information such as trade marks, names, weights, volumes, purposes and the like.

Currently, the labeling machine is generally used for labeling commodities, but because the shapes and sizes of various commodities are different greatly, even in the same type of commodities, different requirements on the labeling positions and the labeling quantities can be met due to different models. Therefore, the labeler in the prior art is single in product type and difficult in labeling position adjustment, and cannot adapt to the trend that users demand products more and more diversified.

Disclosure of Invention

In view of the above, the present invention provides an automatic labeling machine with a manipulator and a labeling method thereof, which can adapt to more product types and reduce the cost.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the invention provides an automatic labeling machine with a manipulator, which comprises a labeling device, a control device and a detection device, wherein the control device is connected with the labeling device; the labeling device comprises a spider-shaped manipulator, a fixed support, a rotating support, a swinging mechanism and a label taking mechanism, wherein the fixed support is mounted at the lower end of a rotating shaft of the spider-shaped manipulator, the rotating support is rotatably mounted at the lower end of the fixed support, the swinging mechanism is connected with the rotating support, and the label taking mechanism is mounted on the rotating support;

the control device is used for controlling the labeling device and comprises a single chip microcomputer;

the detection device is used for detecting the position of the labeling device and feeding back the position to the control device, and the detection device comprises a photoelectric sensor.

Preferably, the labeling device further comprises a label pressing plate arranged at the lower end of the rotating support, a labeling hole is formed in the label pressing plate, a labeling end of the label taking mechanism extends into the labeling hole, and the labeling end of the label taking mechanism and the lower surface of the label pressing plate are located on the same plane.

Preferably, the label taking mechanism comprises a vacuum generator and a vacuum label sucking head communicated with the vacuum generator, the vacuum generator is installed on the fixed support, the vacuum label sucking head is installed on the rotating support, and a sucking disc of the vacuum label sucking head and the lower surface of the label pressing plate are located on the same plane.

Preferably, the automatic labeling machine further comprises a conveying mechanism and a label stripping mechanism labeling device, the conveying mechanism labeling device is located below the labeling device, the label stripping mechanism is located on one of two sides of the conveying direction of the conveying mechanism, and the conveying mechanism and the label stripping mechanism are electrically connected with the control device.

Preferably, the conveying mechanism comprises a roller conveying belt and a blocking device which are electrically connected with the control device, the blocking device is located below the roller conveying belt and corresponds to the labeling device in position, the blocking device comprises a first lifting driving mechanism and a blocking plate connected with the first lifting driving mechanism, and the blocking plate is located in a gap between adjacent rollers of the roller conveying belt.

Preferably, conveying mechanism still including be located the below of cylinder conveyer belt and with controlling means electrical connection's jacking device, jacking device sets up blocking device is close to one side of conveying mechanism's feed inlet, jacking device include second lift actuating mechanism and with two piece at least jacking boards that second lift actuating mechanism is connected, every jacking board is located in the clearance between the adjacent cylinder that the cylinder conveyer belt corresponds.

Preferably, conveying mechanism still includes guider, guider is including installing the support frame of conveying mechanism direction of delivery both sides, every side be equipped with on the support frame respectively and be located the direction guardrail of the cylinder top of cylinder conveyer belt, both sides direction guardrail is kept away from the first end opening and the box size phase-match of conveying mechanism feed inlet, both sides direction guardrail is close to the second end opening of conveying mechanism feed inlet with the cylinder length phase-match of cylinder conveyer belt, the first end and the second end circular arc transition of both sides direction guardrail.

Preferably, the automatic labeling machine further comprises visual detection mechanisms located on two sides of the conveying direction of the conveying mechanism, and the visual detection mechanisms are arranged at one end close to the discharge port of the conveying mechanism.

Preferably, the automatic labeling machine further comprises a support frame, the conveying mechanism is mounted at the lower part of the support frame, the labeling device is mounted at the top of the support frame and opposite to the conveying mechanism, and the label peeling mechanism and the visual detection mechanism are both mounted on the support frame.

The invention also provides a labeling method, which comprises the following steps:

the control device calls a labeling program corresponding to a product to be labeled;

conveying the product to be labeled to a labeling station through a conveying mechanism;

the fixed support is arranged at the lower end of a rotating shaft of the spider-shaped manipulator and driven by the spider-shaped manipulator to move, so that the rotating support rotationally connected with the lower end of the fixed support is driven to move to the label stripping mechanism, and the label taking mechanism arranged on the rotating support is used for obtaining a label on the label stripping mechanism;

the spider-shaped manipulator receives the corresponding labeling program instruction, the label taking mechanism is moved to a corresponding position, a rotating shaft of the spider-shaped manipulator and the swinging mechanism connected with the rotating support are matched with each other, the labeling end of the label taking mechanism is rotated to correspond to the labeling position, and the labeling end of the label taking mechanism is used for labeling a product to be labeled.

According to the technical scheme, the automatic labeling machine with the manipulator and the labeling method drive the spider-shaped manipulator to move and the rotary support for placing the product, the swing mechanism and the label taking mechanism to cooperatively move through the control device, so that the automatic labeling machine with the manipulator and the labeling method can adapt to more product types and reduce the cost.

Drawings

FIG. 1 is a schematic view of an automatic labeling machine with a manipulator according to the present invention;

FIG. 2 is a schematic top view of the robotic automatic labeling machine of the present invention;

FIG. 3 is a schematic perspective view of an automatic labeling machine with a manipulator according to the present invention;

fig. 4 is a schematic view of the working process of the automatic labeling machine with manipulator of the present invention.

Detailed Description

The invention provides an automatic labeling machine with a manipulator, which comprises a labeling device, a control device and a detection device, wherein the control device is connected with the labeling device; the labeling device comprises a spider-shaped manipulator, a fixed support, a rotating support, a swinging mechanism and a label taking mechanism, wherein the fixed support is mounted at the lower end of a rotating shaft of the spider-shaped manipulator, the rotating support is rotatably mounted at the lower end of the fixed support, the swinging mechanism is connected with the rotating support, and the label taking mechanism is mounted on the rotating support;

the control device is used for controlling the labeling device and comprises a single chip microcomputer;

the detection device is used for detecting the position of the labeling device and feeding back the position to the control device, and the detection device comprises a photoelectric sensor.

The automatic labeling machine with the manipulator and the labeling method drive the spider-shaped manipulator to move and the rotary support for placing the product, the swing mechanism and the label taking mechanism to cooperatively move through the control device, so that the automatic labeling machine with the manipulator and the labeling method can adapt to more product types and reduce the cost.

In one implementation mode, the labeling device further comprises a label pressing plate arranged at the lower end of the rotary support, a labeling hole is formed in the label pressing plate, a labeling end of the label taking mechanism extends into the labeling hole, and the labeling end of the label taking mechanism and the lower surface of the label pressing plate are located on the same plane.

In one implementation manner, the label taking mechanism comprises a vacuum generator and a vacuum label sucking head communicated with the vacuum generator, the vacuum generator is installed on the fixed support, the vacuum label sucking head is installed on the rotating support, and a sucking disc of the vacuum label sucking head and the lower surface of the label pressing plate are located on the same plane.

In one implementation manner, the automatic labeling machine further comprises a conveying mechanism and a label peeling mechanism labeling device, the conveying mechanism labeling device is located below the labeling device, the label peeling mechanism is located on one of two sides of the conveying direction of the conveying mechanism, and the conveying mechanism and the label peeling mechanism are electrically connected with the control device.

In one implementation, the conveying mechanism includes a roller conveying belt electrically connected to the control device, and a blocking device located below the roller conveying belt and corresponding to the labeling device, the blocking device includes a first lifting driving mechanism and a blocking plate connected to the first lifting driving mechanism, and the blocking plate is located in a gap between adjacent rollers of the roller conveying belt.

In one implementation mode, the conveying mechanism further comprises a jacking device which is located below the roller conveying belt and electrically connected with the control device, the jacking device is arranged on one side, close to the feeding hole of the conveying mechanism, of the blocking device, the jacking device comprises a second lifting driving mechanism and at least two jacking plates connected with the second lifting driving mechanism, and each jacking plate is located in a gap between adjacent rollers corresponding to the roller conveying belt.

In one implementation mode, conveying mechanism still includes guider, guider is including installing the support frame of conveying mechanism direction of delivery both sides, every side be equipped with on the support frame respectively and be located the direction guardrail of the cylinder top of cylinder conveyer belt, both sides direction guardrail is kept away from the first end opening and the box size phase-match of conveying mechanism feed inlet, both sides direction guardrail is close to the second end opening of conveying mechanism feed inlet with the cylinder length phase-match of cylinder conveyer belt, the first end and the second end circular arc transition of both sides direction guardrail.

In one implementation manner, the automatic labeling machine further comprises visual detection mechanisms located on two sides of the conveying direction of the conveying mechanism, and the visual detection mechanisms are arranged at one end close to the discharge port of the conveying mechanism.

In one implementation, the automatic labeling machine further comprises a support frame, the conveying mechanism is mounted at the lower part of the support frame, the labeling device is mounted at the top of the support frame and opposite to the conveying mechanism, and the label peeling mechanism and the visual detection mechanism are both mounted on the support frame.

The invention also provides a labeling method, which comprises the following steps:

the control device calls a labeling program corresponding to a product to be labeled;

conveying the product to be labeled to a labeling station through a conveying mechanism;

the fixed support is arranged at the lower end of a rotating shaft of the spider-shaped manipulator and driven by the spider-shaped manipulator to move, so that the rotating support rotationally connected with the lower end of the fixed support is driven to move to the label stripping mechanism, and the label taking mechanism arranged on the rotating support is used for obtaining a label on the label stripping mechanism;

the spider-shaped manipulator receives the corresponding labeling program instruction, the label taking mechanism is moved to a corresponding position, a rotating shaft of the spider-shaped manipulator and the swinging mechanism connected with the rotating support are matched with each other, the labeling end of the label taking mechanism is rotated to correspond to the labeling position, and the labeling end of the label taking mechanism is used for labeling a product to be labeled.

So that the manner in which the features and aspects of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings.

As shown in fig. 1 to 3, an automatic labeling machine with a robot arm includes a support frame 10, a labeling device 20, a control device (not shown in the drawings), a detection device (not shown in the drawings), a conveying mechanism 30, a label peeling mechanism 40, and a visual detection mechanism 50.

The control device is used for controlling the labeling device and comprises a single chip microcomputer; the detection device is used for detecting the position of the labeling device and feeding back the position to the control device, and the detection device comprises a photoelectric sensor.

The labeling device 20 is installed on the top of the supporting frame 10, opposite to the conveying mechanism 30, i.e. above the conveying mechanism 30, the labeling device 20 comprises a spider-shaped manipulator 210, a fixed bracket 220, a rotating bracket 230, a swinging mechanism 240, a label taking mechanism and a label taking mechanism 250, the fixed bracket 220 is installed at the lower end of the rotating shaft of the spider-shaped manipulator 210, the rotating bracket 230 is rotatably installed at the lower end of the fixed bracket 220, and the swinging mechanism 240 is connected with the rotating bracket 230.

Specifically, the swing mechanism 240 and the rotating bracket 230 are respectively installed at both sides of the fixed bracket 220, an output end of the swing mechanism 240 is connected to an upper end of the rotating bracket 230, the label taking mechanism 250 is installed on the rotating bracket 230, a labeling end of the label taking mechanism 250 is preferably disposed downward, and the control device is electrically connected to the spider-shaped manipulator 210, the swing mechanism 240, and the label taking mechanism 250.

Preferably, the swing mechanism 240 includes a swing cylinder, and the rotary bracket 230 can perform a rotary motion under the driving of the swing cylinder, and particularly when the swing cylinder swings by 90 °, the label taken by the label taking mechanism 250 on the rotary bracket 230 can be vertically placed, so that the label taking mechanism 250 can label the side wall of the product to be labeled.

Further, the labeling device 20 further includes a label pressing plate 260 mounted at the lower end of the rotating bracket 230, and labeling holes are formed in the label pressing plate 260. The labeling end of the label taking mechanism 250 extends into the labeling hole, the labeling end of the label taking mechanism 250 and the lower surface of the label pressing plate 260 are located on the same plane, and the labeling end of the label taking mechanism 250 obtains a label by arranging the label pressing plate 260. When the product to be labeled is labeled, the label pressing plate 260 can smoothly attach the label to the product to be labeled, so that the label is good in attaching effect and not easy to fall off.

Preferably, the label taking mechanism 250 comprises a vacuum generator 252 and a vacuum suction head 254 communicated with the vacuum generator 252, wherein the vacuum generator 252 is installed on the fixing bracket 220. The vacuum head 254 is arranged on the rotating bracket 230, the sucker 256 of the vacuum head 254 and the lower surface of the label pressing plate 260 are positioned on the same plane, the vacuum head 254 is adopted to suck and paste labels, the labels are not easy to damage, and the label pasting effect is good.

When the product to be labeled is labeled, the spider-shaped manipulator 210 can move in space under the driving of the control device, and then the label taking mechanism 250 is driven to move. The suction head 256 of the label taking mechanism 250 picks up the label and attaches the label to any position on the top surface or four side surfaces of the product to be labeled, the label taking mechanism 250 is mounted on the rotating bracket 230, and the rotating bracket 230 can rotate under the driving of the swing mechanism 240. When the top or side of the carton needs to be labeled, the spider robot 210 moves the label taking mechanism 250 to the corresponding position. The rotation shaft of the spider robot 210 and the swing mechanism 240 cooperate to rotate the labeling end of the label taking mechanism 250, i.e., the suction head 256, to correspond to the labeling position. The label taking mechanism 250 can label the top surface or the side surface of the product to be labeled, and when labeling, the label pressing plate 260 can smoothly label the product to be labeled.

According to the labeling requirements of products to be labeled with different specifications, corresponding labeling programs can be preset in the control device. When the products to be labeled with different specifications need to be labeled, the labeling device 20 can be controlled to label the corresponding products to be labeled only by calling the corresponding program, and the labeling device 20 can label the top surface and the four side surfaces of the products to be labeled with a specified number of labels at any positions according to the specifications of the supplied products to be labeled. And then can treat to paste the mark product and paste the mark to different specifications, automatic level is high, production efficiency is high.

As shown in fig. 1 to 3, the conveying mechanism 30 is mounted at the lower portion of the supporting frame 10 and is located below the labeling device 20, and the conveying mechanism 30 includes a roller conveyer belt 310 and a blocking device 320 electrically connected to the control device. The blocking device 320 is located below the roller conveyor belt 310 and corresponds to the longitudinal position of the labeling device 20. The blocking device 320 includes a first elevating driving mechanism 322 and a blocking plate 324 connected to the first elevating driving mechanism 322. The blocking plate 324 extends into the gap between the adjacent rollers 312 of the roller conveyor belt 310, and the blocking plate 324 can move up and down in the gap between the adjacent rollers 312 under the driving of the first lifting driving mechanism 322. And then can stop and block the product that the mark was waited to the supplied materials, make the supplied materials wait to paste the mark product and be located the subsides mark station.

The conveying mechanism 30 further includes a jacking device 330 located below the roller conveyer belt 310 and electrically connected to the control device, the jacking device 330 is disposed on one side of the blocking device 320 close to the feed inlet of the conveying mechanism 30. The jacking device 330 includes a second lifting driving mechanism 332 and at least two jacking plates 334 connected to the second lifting driving mechanism 332, each jacking plate 334 is located in a gap between adjacent rollers 312 corresponding to the roller conveyer 310, and the jacking plates 334 can move up and down in the gap between the adjacent rollers 312 under the driving of the second lifting driving mechanism 332. And then the product to be labeled which reaches the labeling station can be lifted to be separated from the conveying surface of the roller conveying belt 310, so that the labeling device 20 can conveniently label the product to be labeled.

The conveying mechanism 30 further comprises a guiding device 340, and the guiding device 340 comprises supporting frames 342 mounted on two sides of the conveying mechanism 30 in the conveying direction. And a guide guardrail 344 positioned above the roller 312 of the roller conveyer belt 310 is arranged on each supporting frame 342, and the first end opening of the guide guardrails 344 at the two sides, which is far away from the feed inlet of the conveying mechanism 30, is matched with the size of the box body. The second end opening of the two side guide rails 344 near the feed opening of the conveyor mechanism 30 matches the length of the rollers 312 of the roller conveyor belt 310. The first and second ends of the two side guide rails 344 are in a circular arc transition by providing the guide rails 344 on both sides above the drum. The labeling machine is used for guiding and limiting a product to be labeled so that the product to be labeled can reach a labeling station in order. The labeling device 20 can conveniently label the product to be labeled, the first end and the second end of the guide guardrails 344 on the two sides are in arc transition, and the product to be labeled is stably guided.

As shown in fig. 1, the label peeling mechanism 40 is located on one of two sides of the conveying direction of the conveying mechanism 30 and is mounted on the supporting frame 10, and the label peeling mechanism 40 is used for peeling the label on the label tape from the base paper so that the label taking mechanism 250 can take the label. The visual inspection mechanisms 50 are located on both sides of the conveying direction of the conveying mechanism 30, and are mounted on the support frame 10.

The visual detection mechanism 50 is disposed at an end close to the discharge port of the conveying mechanism 30, and is used for detecting whether a label attached to a product to be labeled after labeling is qualified. If the label is unqualified, the unqualified product to be labeled can be removed in the subsequent process.

The automatic labeling machine with the manipulator comprises the following working processes: the control device calls the labeling program of the product to be labeled with the corresponding specification, and the product to be labeled with the corresponding specification is input from the feed port of the conveying mechanism 30. Guided by guide rail 344 to the labeling station, stop plate 324 of stop device 320 rises to stop the product to be labeled. The lifting plate 334 of the lifting device 330 lifts the product to be labeled, and at the same time, the label stripper strips the base paper from the label corresponding to the product to be labeled. The labeling device 20 receives a labeling program command from the control device, and the spider robot 210 drives the suction cup 256 of the label taking mechanism 250 to suck the peeled label. The suction cup 256 directly attaches the label to the top surface of the product to be labeled, or the swing cylinder rotates 90 degrees to drive the rotating bracket 230 to rotate 90 degrees, so that the label sucked by the suction cup 256 of the label taking mechanism 250 is vertically placed. The suction cup 256 applies the label to a designated position on the sidewall of the product to be labeled. In the labeling process, the label pressing plate 260 can press the labels flatly, so that the labels are flatly attached to the product to be labeled, and when a plurality of labels need to be attached, the label taking mechanism 250 continues to take the labeled labels. After the labeling is completed, the lifting plate 334 descends, and the product to be labeled descends onto the roller conveyer belt 310. The blocking plate 324 descends, and the product to be labeled is conveyed to the discharge port continuously through the conveying mechanism 30. The visual inspection mechanism 50 detects whether the appearance, position and the like of the label of the product to be labeled meet the requirements, and the product to be labeled which does not meet the requirements can be removed in the subsequent working procedures.

The labeling machine includes a labeling device 20, and has the technical effects of the labeling device 20. In addition, each mechanism of the labeling machine is installed on the supporting frame 10, so that the labeling machine is good in integrity and convenient to carry. The labeling machine is provided with the conveying mechanism 30, the label stripping mechanism 40, the visual detection mechanism 50 and the like, can realize automatic conveying and labeling of cartons, and has a high automation level. The labeler can paste labels with specified quantity at any positions of the top surface and four side surfaces of a product to be labeled, and labeling of products to be labeled with different specifications can be realized on one production line. The labeling programs corresponding to the products to be labeled with different specifications are arranged in the control device in advance, and the specifications of the products to be labeled need to be changed only by calling the corresponding programs through the control device, so that the switching and adjusting time is short. The labeller of this embodiment can be fast and stable wait to paste the mark product to specification, subsides mark position and quantity homogeneous difference and paste the mark, can replace the production mode that the manual work pasted the mark, improve the automated production level of mill, especially have apparent effect to the improvement of the more frequent production line production efficiency of product kind many, batch little, product switching.

To further understand the present invention, a brief working flow of the labeling method of the automatic labeling machine with manipulator of the present invention is described below, as shown in fig. 4, the working flow includes the following steps:

100: the control device calls a labeling program corresponding to a product to be labeled.

200: the product to be labeled is conveyed to the labeling station through the conveying mechanism 30.

300: the fixed bracket 220 installed at the lower end of the rotating shaft of the spider-shaped robot 210 moves under the driving of the spider-shaped robot 210, further drives the rotating bracket 230 rotatably connected with the lower end of the fixed bracket 220 to move to the label peeling mechanism 40, and the label taking mechanism 250 installed on the rotating bracket 230 obtains the label on the label peeling mechanism 40.

400: the spider-shaped manipulator 210 receives the corresponding labeling program command, the label taking mechanism 250 is moved to a corresponding position, the rotating shaft of the spider-shaped manipulator 210 and the swinging mechanism 240 connected with the rotating support 230 are matched with each other, the labeling end of the label taking mechanism 250 is rotated to correspond to the labeling position, and the labeling end of the label taking mechanism 250 performs labeling on a product to be labeled.

According to the labeling method, a preset program is called through a control device, and the rotary shaft of the spider-shaped manipulator 210 and the swing mechanism 240 are matched with each other, so that labeling can be performed on any position of the top surface or the side surface of a product to be labeled. Can wait to paste the mark product to different specifications and realize pasting the mark fast, paste the mark efficient.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the description of the present invention, unless otherwise specified and limited, the term "connected" is to be understood broadly, and may be, for example, an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and a specific meaning of the term may be understood by those skilled in the art according to specific situations.

In the present invention, if the term "first \ second \ third" is referred to, it is only to distinguish similar objects and does not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" can be interchanged with a specific order or sequence as the case may be.

The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.