阅读说明：本技术 一种贴标机器人 (Label pasting robot ) 是由 陈鑫 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种贴标机器人,包括配重座,所述配重座上端固定安装有旋转机构,所述旋转机构上端固定安装有转动盘,所述转动盘上端中部固定安装有升降件,所述升降件上端固定安装有连接块,所述连接块上端固定安装有横梁,所述横梁下端右部固定安装有两个二号连接杆,两个所述二号连接杆下端共同固定连接有转向机构,所述转向机构右端与连接块左端共同固定连接有一号连接杆,所述转向机构左端固定连接有吸取机构,所述吸取机构上端贯穿横梁左部。本发明所述的一种贴标机器人,可一次性实现多种标签的贴标操作,提高贴标效率,贴标功能强大,实现纸箱不同方位的贴标操作,可保证贴标过程中的稳定性,提高贴标精度。(The invention discloses a labeling robot which comprises a balance weight seat, wherein a rotating mechanism is fixedly installed at the upper end of the balance weight seat, a rotating disc is fixedly installed at the upper end of the rotating mechanism, a lifting piece is fixedly installed in the middle of the upper end of the rotating disc, a connecting block is fixedly installed at the upper end of the lifting piece, a cross beam is fixedly installed at the upper end of the connecting block, two second connecting rods are fixedly installed on the right part of the lower end of the cross beam, the lower ends of the two second connecting rods are fixedly connected with a steering mechanism together, the right end of the steering mechanism and the left end of the connecting block are fixedly connected with a first connecting rod together, the left end of the steering mechanism is fixedly connected with an absorbing mechanism, and the upper end of the absorbing mechanism penetrates through the left part of the cross beam. The labeling robot can realize labeling operation of various labels at one time, improve labeling efficiency, has strong labeling function, realizes labeling operation of different directions of a carton, can ensure stability in the labeling process and improve labeling precision.)

1. The utility model provides a labeling robot, includes counter weight seat (1), its characterized in that: the counterweight seat is characterized in that a rotating mechanism (5) is fixedly mounted at the upper end of the counterweight seat (1), a rotating disc (2) is fixedly mounted at the upper end of the rotating disc (5), a lifting piece (6) is fixedly mounted at the middle part of the upper end of the rotating disc (2), a connecting block (7) is fixedly mounted at the upper end of the lifting piece (6), a cross beam (9) is fixedly mounted at the upper end of the connecting block (7), two connecting rods (10) are fixedly mounted at the right part of the lower end of the cross beam (9), a steering mechanism (4) is fixedly connected at the lower end of the two connecting rods (10) together, a connecting rod (8) is fixedly connected at the right end of the steering mechanism (4) and the left end of the connecting block (7) together, a suction mechanism (3) is fixedly connected at the left end of the steering mechanism (4), the upper end of the suction mechanism (3) penetrates through the left part of the cross beam (9), and a limiting rod (11) is fixedly mounted at the middle part of the suction mechanism (3), steering mechanism (4) left end lower part is opened there is spacing groove (12), gag lever post (11) right-hand member is located inside spacing groove (12), and sliding connection between gag lever post (11) and spacing groove (12), spacing groove (12) are half-circular arc structure, lifter (6) include pneumatic cylinder (61), pneumatic cylinder (61) output end fixedly connected with hydraulic stem (62), hydraulic stem (62) upper end and connecting block (7) lower extreme fixed connection, pneumatic cylinder (61) lower extreme and rolling disc (2) upper end fixed connection.

2. The labeling robot of claim 1, wherein: suction means (3) are including absorbing case (31) and oversheath (37), oversheath (37) lower extreme fixedly connected with connection pad (38), oversheath (37) right-hand member upper portion fixed mounting has steering tube (36), oversheath (37) inside is provided with five air ducts (35), it has numerical control board (32) to absorb case (31) front end fixed mounting, numerical control board (32) front end fixed mounting has a plurality of program control button (33), it has blast pipe (34) to absorb case (31) right-hand member to run through, blast pipe (34) left end fixedly connected with vacuum pump and vacuum pump are located and absorb inside case (31).

3. The labeling robot of claim 2, wherein: connection pad (38) lower extreme fixed mounting respectively has main dish (39) and four vice dishes (30) of absorbing, main dish (39) of absorbing is located four vice dishes (30) middle parts of absorbing, it has through-hole (311) to absorb case (31) lower extreme left part to open.

4. The labeling robot of claim 3, wherein: five air duct (35) one end is drawn dish (39) inside and four vice dishes (30) of drawing respectively with the main portion and is communicated with each other, and five air duct (35) other ends all run through inside through-hole (311) and with vacuum pump output fixed connection, five the equal fixed mounting in air duct (35) upper portion has the control valve, numerical control board (32) respectively with rotary mechanism (5), steering mechanism (4), lifter (6), vacuum pump and control valve electric connection.

5. The labeling robot of claim 1, wherein: steering mechanism (4) include quick-witted case (41), quick-witted case (41) lower extreme fixed mounting respectively has slide rail (45) and mounting panel (46), slide rail (45) are located mounting panel (46) left end, the anterior fixed mounting in slide rail (45) upper end has cylinder (42), cylinder (42) output end fixedly connected with push rod (43), push rod (43) rear end fixedly connected with driving medium (44), mounting panel (46) upper end fixed mounting has three contact pick-up (47).

6. The labeling robot of claim 5, wherein: the transmission piece (44) comprises a rack (441), a gear body (443) is meshed at the upper end of the rack (441), a steering shaft (444) is fixedly connected to the middle of the gear body (443), an installation rod (442) is fixedly installed in the middle of the right end of the rack (441), the lower end of the installation rod (442) is in contact connection with the upper end of the contact sensor (47), the left end of the rack (441) is fixedly connected with the right end of the push rod (43), and the left end of the steering shaft (444) is fixedly connected with the right end of the steering pipe (36).

7. The labeling robot of claim 1, wherein: rotary mechanism (5) include barrel (51), barrel (51) lower extreme right part fixed mounting has servo motor (52), servo motor (52) output end fixedly connected with pivot (53) No. one, pivot (53) surface fixed cover has connect pinion (54), pinion (54) left end meshing has gear wheel (56), gear wheel (56) middle part is run through there is No. two pivot (55).

8. The labeling robot of claim 7, wherein: pinion (54) diameter is one fifth of gear wheel (56) diameter, pass through bearing swing joint between pivot (53) and barrel (51), No. two pivot (55) upper ends run through barrel (51) upper end and with rolling disc (2) lower extreme fixed connection, No. two pivot (55) lower extreme passes through bearing swing joint with barrel (51) lower extreme.

Technical Field

The invention relates to the technical field of labeling equipment, in particular to a labeling robot.

Background

In enterprise production, a plurality of places need to use a labeling machine to label a product. Especially, when the carton is labeled, the carton with different sizes and specifications is often required to be labeled on the same production line, and labeling equipment often has the following problems in the labeling process: 1. the existing labeling equipment can only complete labeling operation of one label at a time, but cannot synchronously perform labeling operation on a carton with a plurality of labeling requirements at the same time, so that the labeling function is not strong enough; 2. the existing labeling equipment can only perform labeling operation in a certain fixed direction, and cannot perform multi-directional labeling operation on a carton, so that the labeling function cannot meet the existing labeling requirement; 3. the stability often is not enough in the current subsides mark equipment is pasting the mark in-process to the carton, pastes the mark in-process and easily appears rocking, leads to pasting the mark precision not high.

Disclosure of Invention

The invention mainly aims to provide a labeling robot which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

a labeling robot comprises a balance weight seat, wherein a rotating mechanism is fixedly installed at the upper end of the balance weight seat, a rotating disc is fixedly installed at the upper end of the rotating mechanism, a lifting piece is fixedly installed in the middle of the upper end of the rotating disc, a connecting block is fixedly installed at the upper end of the lifting piece, a cross beam is fixedly installed at the upper end of the connecting block, two connecting rods are fixedly installed at the right part of the lower end of the cross beam, a steering mechanism is fixedly connected at the lower ends of the two connecting rods together, a connecting rod I is fixedly connected at the right end of the steering mechanism and the left end of the connecting block together, a suction mechanism is fixedly connected at the left end of the steering mechanism, the upper end of the suction mechanism penetrates through the left part of the cross beam, a limiting rod is fixedly installed in the middle of the suction mechanism, a limiting groove is formed in the lower part of the left end of the steering mechanism, the right end of the limiting rod is positioned in the limiting groove and is connected with the limiting groove in a sliding manner, the limiting groove is of a semicircular arc structure, the lifting piece comprises a hydraulic cylinder, a hydraulic rod is fixedly connected to the output end of the hydraulic cylinder, the upper end of the hydraulic rod is fixedly connected with the lower end of the connecting block, and the lower end of the hydraulic cylinder is fixedly connected with the upper end of the rotating disc.

Preferably, the suction mechanism comprises a suction box and an outer sheath, the lower end of the outer sheath is fixedly connected with a connecting disc, a steering pipe is fixedly mounted on the upper portion of the right end of the outer sheath, five air guide pipes are arranged inside the outer sheath, a numerical control plate is fixedly mounted at the front end of the suction box, a plurality of program control buttons are fixedly mounted at the front end of the numerical control plate, an exhaust pipe penetrates through the right end of the suction box, and a vacuum pump is fixedly connected to the left end of the exhaust pipe and located inside the suction box.

Preferably, the connection pad lower extreme respectively fixed mounting have main absorption dish and four vice absorption dishes, main absorption dish is located four vice absorption dish middle parts, it has the through-hole to absorb case lower extreme left part and open.

Preferably, five air duct one end respectively with main inside and four vice suction disc portions of absorbing communicate with each other, and five air duct other ends all run through the through-hole inside and with vacuum pump output end fixed connection, five equal fixed mounting in air duct upper portion has the control valve, the numerical control board respectively with rotary mechanism, steering mechanism, lifting member, vacuum pump and control valve electric connection.

Preferably, the steering mechanism comprises a case, the lower end of the case is respectively and fixedly provided with a slide rail and a mounting plate, the slide rail is located at the left end of the mounting plate, the front part of the upper end of the slide rail is fixedly provided with an air cylinder, the output end of the air cylinder is fixedly connected with a push rod, the rear end of the push rod is fixedly connected with a transmission part, and the upper end of the mounting plate is fixedly provided with three contact sensors.

Preferably, the driving medium includes the rack, the meshing of rack upper end has the gear body, gear body middle part fixedly connected with steering spindle, rack right-hand member middle part fixed mounting has the installation pole, installation pole lower extreme and contact pick up upper end contact are connected, rack left end and push rod right-hand member fixed connection, steering spindle left end and steering tube right-hand member fixed connection.

Preferably, rotary mechanism includes the barrel, barrel lower extreme right part fixed mounting has servo motor, No. one pivot of servo motor output end fixedly connected with, No. one pivot surface fixed cover has connect the pinion, the meshing of pinion left end has the gear wheel, No. two pivots have been run through at the gear wheel middle part.

Preferably, the pinion diameter is one fifth of gear wheel diameter, pass through bearing swing joint between a pivot and the barrel, No. two pivot upper ends run through the barrel upper end and with rolling disc lower extreme fixed connection, No. two pivot lower extremes pass through bearing swing joint with the barrel lower extreme.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the circulation operation of gas in the gas guide pipe is controlled by controlling the opening of the control valve on the gas guide pipe, so that the selective labeling operation of the main suction disc and the four auxiliary suction discs is realized, the labeling operation of various labels is realized at one time, the labeling efficiency is improved, the labeling function is strong, and the suction mechanism sucks the labels by utilizing vacuum adsorption, so that the integrity of the labels in the suction process is ensured, and the labels are prevented from being damaged.

2. According to the labeling machine, the rack on the push rod is driven by the air cylinder to move left and right along the sliding rail, so that the gear body is driven to continuously perform anticlockwise and clockwise steering operation, the connecting disc on the outer sheath is driven to perform synchronous steering operation around the steering pipe, labeling operation of different directions of cartons is achieved, labeling operation of cartons of different types is met, and labeling requirements of the cartons are met.

3. In the invention, the limiting rod synchronously slides in the limiting groove in the process of steering and labeling, and the limiting groove is a semi-arc mechanism, so that the outer sheath on the limiting rod is limited, the outer sheath is prevented from shaking in the steering process, the stability in the labeling process is ensured, and the labeling precision is improved.

Drawings

FIG. 1 is an overall configuration diagram of a labeling robot of the present invention;

FIG. 2 is a schematic view of another angle of the labeling robot of the present invention;

FIG. 3 is a schematic structural diagram of a suction mechanism of a labeling robot according to the present invention;

FIG. 4 is a bottom view of the suction mechanism of a labeling robot of the present invention;

FIG. 5 is a schematic view of the internal structure of a steering mechanism of a labeling robot according to the present invention;

FIG. 6 is a schematic view of the mounting of the driving member of the labeling robot of the present invention;

fig. 7 is a schematic view of the internal structure of the rotating mechanism of the labeling robot according to the present invention.

In the figure: 1. a counterweight seat; 2. rotating the disc; 3. a suction mechanism; 4. a steering mechanism; 5. a rotation mechanism; 6. a lifting member; 7. connecting blocks; 8. a first connecting rod; 9. a cross beam; 10. a second connecting rod; 11. a limiting rod; 12. a limiting groove; 30. an auxiliary suction disc; 31. an absorption box; 32. a numerical control board; 33. a program control button; 34. an exhaust pipe; 35. an air duct; 36. a steering tube; 37. an outer sheath; 38. a connecting disc; 39. a main suction tray; 311. a through hole; 41. a chassis; 42. a cylinder; 43. a push rod; 44. a transmission member; 45. a slide rail; 46. mounting a plate; 47. a contact sensor; 441. a rack; 442. mounting a rod; 443. a gear body; 444. a steering shaft; 51. a barrel; 52. a servo motor; 53. a first rotating shaft; 54. a pinion gear; 55. a second rotating shaft; 56. a bull gear; 61. a hydraulic cylinder; 62. a hydraulic rod.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-7, the technical solution provided in this embodiment is as follows:

a labeling robot comprises a balance weight seat 1, a rotating mechanism 5 is fixedly arranged at the upper end of the balance weight seat 1, a rotating disc 2 is fixedly arranged at the upper end of the rotating mechanism 5, a lifting piece 6 is fixedly arranged in the middle of the upper end of the rotating disc 2, a connecting block 7 is fixedly arranged at the upper end of the lifting piece 6, a cross beam 9 is fixedly arranged at the upper end of the connecting block 7, two second connecting rods 10 are fixedly arranged at the right part of the lower end of the cross beam 9, a steering mechanism 4 is fixedly connected at the lower ends of the two second connecting rods 10 together, a first connecting rod 8 is fixedly connected at the right end of the steering mechanism 4 and the left end of the connecting block 7 together, a suction mechanism 3 is fixedly connected at the left end of the steering mechanism 4, the upper end of the suction mechanism 3 penetrates through the left part of the cross beam 9, a limiting rod 11 is fixedly arranged in the middle of the suction mechanism 3, a limiting groove 12 is formed in the lower part of the left end of the steering mechanism 4, the right end of the limiting rod 11 is positioned in the limiting groove 12, and the limiting rod 11 is connected with the limiting groove 12 in a sliding manner, spacing groove 12 is the half-circular arc structure, and lifter 6 includes pneumatic cylinder 61, and pneumatic cylinder 61 output fixedly connected with hydraulic stem 62, hydraulic stem 62 upper end and 7 lower extreme fixed connection of connecting block, pneumatic cylinder 61 lower extreme and 2 upper ends fixed connection of rolling disc.

Specifically, referring to fig. 3-4, the suction mechanism 3 includes a suction box 31 and an outer sheath 37, the lower end of the outer sheath 37 is fixedly connected with a connecting plate 38, the upper part of the right end of the outer sheath 37 is fixedly provided with a steering tube 36, five air ducts 35 are arranged inside the outer sheath 37, the front end of the suction box 31 is fixedly provided with a numerical control board 32, the front end of the numerical control board 32 is fixedly provided with a plurality of program control buttons 33, the right end of the suction box 31 penetrates through an exhaust pipe 34, the left end of the exhaust pipe 34 is fixedly connected with a vacuum pump, and the vacuum pump is located inside the suction box 31; the lower end of the connecting disc 38 is fixedly provided with a main suction disc 39 and four auxiliary suction discs 30 respectively, the main suction disc 39 is positioned in the middle of the four auxiliary suction discs 30, and the left part of the lower end of the suction box 31 is provided with a through hole 311; five air ducts 35 one end communicate with each other with the main inside of absorbing the dish 39 and four vice absorbing the dish 30 insidely respectively, and five air ducts 35 other ends all run through the through-hole 311 inside and with vacuum pump output end fixed connection, and the equal fixed mounting in five air ducts 35 upper portions has a control valve, and numerical control board 32 respectively with rotary mechanism 5, steering mechanism 4, lifter 6, vacuum pump and control valve electric connection.

In the embodiment of the invention, when the labeling operation of various labels is required to be performed on the packaging box, the circulation operation of the gas in the gas guide pipe 35 can be controlled by controlling the opening of the control valve on the gas guide pipe 35, so that the selective labeling operation of the main suction disc 39 and the four auxiliary suction discs 30 is realized, the labeling operation of various labels is realized at one time, and the labeling function is strong.

Specifically, referring to fig. 5-6, the steering mechanism 4 includes a chassis 41, a slide rail 45 and an installation plate 46 are respectively and fixedly installed at the lower end of the chassis 41, the slide rail 45 is located at the left end of the installation plate 46, an air cylinder 42 is fixedly installed at the front part of the upper end of the slide rail 45, a push rod 43 is fixedly connected to the output end of the air cylinder 42, a transmission member 44 is fixedly connected to the rear end of the push rod 43, and three contact sensors 47 are fixedly installed at the upper end of the installation plate 46; the transmission member 44 includes a rack 441, a gear body 443 is engaged with the upper end of the rack 441, a steering shaft 444 is fixedly connected to the middle of the gear body 443, a mounting rod 442 is fixedly mounted to the middle of the right end of the rack 441, the lower end of the mounting rod 442 is in contact connection with the upper end of the contact sensor 47, the left end of the rack 441 is fixedly connected to the right end of the push rod 43, and the left end of the steering shaft 444 is fixedly connected to the right end of the steering tube 36.

In the embodiment of the present invention, the air cylinder 42 on the steering mechanism 4 is driven to drive the push rod 43 on the air cylinder 42 to perform telescopic motion, so as to drive the rack 441 on the push rod 43 to perform left-right motion along the slide rail 45, the left-right motion of the rack 441 is continuously engaged with the gear body 443, so as to drive the gear body 443 to continuously perform counterclockwise and clockwise steering operations, the gear body 443 rotates while driving the steering tube 36 on the steering shaft 444 to synchronously rotate, so as to drive the connecting disc 38 on the outer sheath 37 to perform synchronous steering operations around the steering tube 36, thereby realizing labeling operations of different orientations of the carton, and having strong automation and high working efficiency.

Specifically, referring to fig. 7, the rotating mechanism 5 includes a cylinder 51, a servo motor 52 is fixedly mounted on the right portion of the lower end of the cylinder 51, a first rotating shaft 53 is fixedly connected to an output end of the servo motor 52, a small gear 54 is fixedly connected to the outer surface of the first rotating shaft 53, a large gear 56 is engaged with the left end of the small gear 54, and a second rotating shaft 55 penetrates through the middle portion of the large gear 56; the diameter of the small gear 54 is one fifth of that of the large gear 56, the first rotating shaft 53 is movably connected with the cylinder body 51 through a bearing, the upper end of the second rotating shaft 55 penetrates through the upper end of the cylinder body 51 and is fixedly connected with the lower end of the rotating disc 2, and the lower end of the second rotating shaft 55 is movably connected with the lower end of the cylinder body 51 through a bearing.

In the embodiment of the present invention, the servo motor 52 drives the small gear 54 on the first rotating shaft 53 to rotate, and the rotation of the small gear 54 drives the large gear 56 engaged therewith to perform a synchronous slow rotation operation, so as to drive the rotating disc 2 at the upper end of the second rotating shaft 55 to perform a slow rotation, thereby realizing the turning transportation of the label sucked on the suction mechanism 3, and facilitating the smooth proceeding of the labeling operation.

It should be noted that the present invention is a labeling robot, when a packing box needs to be labeled, an operator can select a working mode of the labeling robot by adjusting a program control button 33 on a numerical control board 32, when the packing box to be labeled moves to one side of the robot, a suction mechanism 3 and a lifting member 6 on the robot start working, so that a vacuum pump on the suction mechanism 3 starts working, the vacuum pump performs a vacuum pumping operation, so that an auxiliary suction disc 30 and a main suction disc 39 at the lower end of a connecting disc 38 complete the label suction operation under the matching operation of the lifting member 6, then a rotating mechanism 5 works, a servo motor 52 in the rotating mechanism 5 drives a pinion 54 on a first rotating shaft 53 to rotate, the rotation of the pinion 54 drives a gearwheel 56 engaged with the pinion to perform a synchronous slow rotation operation, thereby driving a rotating disc 2 at the upper end of a second rotating shaft 55 to perform a slow rotation, further realizing the steering transportation of the label absorbed on the absorbing mechanism 3, and realizing the labeling operation of the packing box to be labeled under the matching operation of the lifting piece 6, and the lower end of the connecting disc 38 is provided with the main absorbing disc 39 and the four auxiliary absorbing discs 30, when the labeling operation of various labels is required to be carried out on the packing box, the circulation operation of the gas in the gas guide tube 35 can be controlled by controlling the opening of the control valve on the gas guide tube 35, so that the selective labeling operation of the main absorbing disc 39 and the four auxiliary absorbing discs 30 is further realized, the labeling operation of various labels can be realized at one time, the labeling function is strong, when the labeling operation is carried out on the cartons with different types and sizes, the steering mechanism 4 can be driven, the cylinder 42 on the steering mechanism 4 is driven to drive the push rod 43 on the cylinder 42 to carry out the telescopic motion, and further the rack 441 on the push rod 43 to carry out the left-right motion along the slide rail 45, and the left-right motion of the rack 441 is meshed with the gear body 443 continuously, thereby drive gear body 443 constantly carry out anticlockwise and clockwise turning operation, gear body 443 drives the steering tube 36 on the steering shaft 444 and carries out synchronous revolution when rotating, and then drive connection pad 38 on oversheath 37 and turn to the operation around steering tube 36 in step, realize the subsides mark operation in the different position of carton, and slide in spacing groove 12 in step at the in-process gag lever post 11 that turns to the subsides mark, thereby carry out spacing operation to oversheath 37 on the gag lever post 11, avoid oversheath 37 to appear rocking at the in-process that turns to, guarantee to paste the stability of mark in-process, improve and paste the mark precision.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.