CN110615155B

CN110615155B - Method for sticking labels on customized furniture board

Info

Publication number: CN110615155B
Application number: CN201910955899.5A
Authority: CN
Inventors: 黎干; 彭湃; 许磊; 梁必炽; 麦智晖
Original assignee: FOSHAN WEISHANG FURNITURE MANUFACTURING CO LTD; Wuxi Weishang Home Technology Co ltd
Current assignee: FOSHAN WEISHANG FURNITURE MANUFACTURING CO LTD; Wuxi Weishang Home Technology Co ltd
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2021-06-04
Anticipated expiration: 2039-10-09
Also published as: CN110615155A

Abstract

The invention provides a method for labeling a customized furniture board, which is characterized by comprising the following steps of: a plate lifting device is arranged on one side of the label taking platform of the rack; stacking the plates on the plate lifting device to realize the lifting of the plates; adjusting the height of the upper end face of the uppermost plate to be flush with the label taking platform, so that the label taking platform and the plates form a movement plane of the label pasting trolley together; the label printing and stripping device prints labels, and the labels are stripped from the base paper and then placed on the label receiving platform; the label pasting trolley walks to the label taking platform to take out the label on the label receiving platform, and then walks to the plate to paste the label. The method can realize automatic operation of label printing stripping and sticking, reduce labor intensity of workers and labor cost, improve label sticking efficiency and facilitate reduction of equipment volume.

Description

Method for sticking labels on customized furniture board

Technical Field

The invention relates to the technical field of label pasting, in particular to a method for pasting labels on customized furniture boards.

Background

In all production links of customized furniture plates, the sticking labels are simple to operate, but provide processing information for all subsequent automated procedures of each plate, so that the sticking labels become an essential procedure. Compared with a plurality of automatic processes such as cutting, drilling and milling, edge sealing and the like, the conventional label pasting process is basically completed in a manual operation mode, and generally, after the cutting of the plate is completed, an operator manually pastes a label on each plate after the cutting. The method has obvious disadvantages such as: the labor cost is high, the working labor intensity is high, the manual labor is fatigue or the manual labeling is easy to miss or miss, the efficiency of manual labeling is low, the speed requirement of an automatic production line is difficult to meet, the sizes of workpieces are different, and the labeling position cannot be normalized due to the randomness of manual labeling.

To realize the automatic operation of label sticking, there are two main ways at present: the utility model provides an adopt numerical control equipment of similar longmen mobile engraving machine structure, transmit panel to numerical control equipment one by one on, numerical control equipment absorbs a label at every turn, then remove the label through gantry structure and paste the label to the position that needs paste the mark, so circulation, the shortcoming of this kind of mode lies in that use cost is high, near equipment need have panel paste before the label temporary storage region and panel paste the label after the temporary storage region to gantry structure is bulky, consequently the operation land needs to occupy great area. The other mode is that automatic equipment integrating the functions of cutting and labeling the plate is adopted, the same set of motion structure is used for arranging the cutting equipment and the labeling equipment, and labeling is completed while cutting. The disadvantage of this method is that although the same set of moving mechanism is used for both the cutting and labeling operations, the processing procedures are independent, so the processing efficiency is not high, and in addition, the equipment price is increased, the equipment structure is complex, and the reliability is relatively low.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention aims to provide a method for customizing a furniture plate to stick a label, realizing automatic operation of label printing stripping and sticking, reducing the labor intensity of workers and the labor cost, sticking a plurality of labels at one time to improve the label sticking efficiency, standardizing the sticking position and being beneficial to reducing the volume of equipment.

In order to achieve the purpose, the invention is realized by the following technical scheme: a method for labeling a customized furniture board, comprising: a plate lifting device is arranged on one side of the label taking platform of the rack; stacking the plates on the plate lifting device to realize the lifting of the plates; adjusting the height of the upper end face of the uppermost plate to be flush with the label taking platform, so that the label taking platform and the plates form a movement plane of the label pasting trolley together; the label printing and stripping device prints labels, and the labels are stripped from the base paper and then placed on the label receiving platform; the label pasting trolley walks to the label taking platform to take out the label on the label receiving platform, and then walks to the plate to paste the label.

The method can realize automatic operation of label printing, stripping and pasting, can reduce the labor intensity of workers and the labor cost, improves the label pasting efficiency so as to adapt to the urgent need of large-scale production of customized furniture, and can avoid label mispasting or label missing caused by human error; the method is favorable for reducing the volume of equipment, can simply reform the original plate storage area, does not need large-scale equipment such as gantry numerical control equipment or a robot arm and the like, and has low cost and small occupied operation field.

Preferably, the label is peeled from the base paper and placed on a label receiving platform, and the label receiving platform comprises: the label printing and stripping device comprises a label printing mechanism and a label stripping structure, wherein the label stripping structure forms a moving curved surface, a sharp angle position is arranged on the moving curved surface, and a label receiving platform is positioned on one side of the sharp angle position; the base paper extends out of the label printing mechanism, is attached to the moving curved surface of the label stripping structure and then extends into the label printing mechanism again; pulling the base paper to move by using a traction mechanism of the label printing mechanism; in the process of moving on the base paper attaching moving curved surface, the base paper rotates at a sharp angle position by a large angle, and the label on the base paper is separated from the base paper and falls on the label receiving platform by means of self gravity.

Preferably, the label pasting trolley walks to the label taking platform to take out the label on the label receiving platform, and then walks to the plate to paste the label, and the method includes the following steps:

and S1, taking away the label, which comprises the following steps:

s11, the label pasting trolley acquires a set label picking operation position, acquires a current angle and a current position through a positioning sensing module, and calculates a label picking moving route;

s12, moving the label sticking trolley to a label picking operation position according to the label picking moving route; in the moving process, the positioning sensing module detects the current angle and the current position so as to ensure that the label sticking trolley walks along the label taking moving route;

s13, adjusting the angle of the rotating disc by the label sticking trolley through a rotary driving device to enable the label taking device connected with the rotating disc to be opposite to the label on the label receiving platform;

s14, lowering the label taking device to be contacted with the label by using the label taking lifting device; fixing a label by using a label taking device; the label taking lifting device lifts the label taking device to drive the label to lift together;

and step S15, judging whether the bid is finished: if yes, go to step S2; otherwise, waiting for the label printing and stripping device to print and strip the next label, and then jumping to S13 to perform the next label-taking operation of the label-taking device;

and S2, labeling, including the following steps:

s21, the label pasting trolley acquires labeling operation positions and pasting positions corresponding to all labels, acquires current angles and current positions through a positioning sensing module, sets the labeling sequence of the labels and calculates a labeling moving route;

s22, moving the label pasting trolley to a labeling operation position of the label to be pasted at present according to the labeling moving route; in the moving process, the positioning sensing module detects the current angle and the current position to ensure that the label sticking trolley travels along the labeling moving route;

s23, adjusting the angle of the rotating disc by the rotating driving device, so as to adjust the position of the label taking device to enable the current label to be pasted to be opposite to the pasting position;

s24, the label taking lifting device descends to enable the label to be pasted to descend together until the label to be pasted touches the position to be pasted of the plate, and the label is pasted on the pasting position by using self-contained adhesive; the label taking assembly loosens the label to be pasted currently and the label taking lifting device lifts the label taking assembly to enable the label taking assembly to be separated from the label to be pasted currently;

and step S25, judging whether all the labels are pasted: if yes, go to step S3; otherwise, jumping to S22 to paste the next label to be pasted;

and step S3, judging whether the next label sticking is needed: if yes, go to step S1, otherwise, finish the label pasting.

The method can paste a plurality of labels at one time, further improves the label pasting efficiency and is beneficial to standardizing the label pasting position.

Preferably, in the steps S11 and S21, the obtaining of the current angle and the current position by the label sticking cart through the positioning sensing module includes: the positioning sensing module acquires and adjusts the current angle by adopting an ultrasonic positioning technology, and then acquires the current position by adopting the ultrasonic positioning technology;

in the steps S12 and S22, the positioning sensing module detects the current angle and the current position, which means: the positioning sensing module adopts a gyroscope to obtain and adjust the current angle, and then adopts an ultrasonic positioning technology to obtain the current position.

When the label pasting trolley is static, the angle of the label pasting trolley is obtained and adjusted by adopting an ultrasonic positioning technology; when the label pasting trolley moves, acquiring a yaw angle through a gyroscope to acquire the angle of the label pasting trolley and adjusting the angle, and determining the position of the pasting trolley by combining an X-axis coordinate value and a Y-axis coordinate value acquired by an ultrasonic positioning technology; the slow response caused by large data calculation amount in the movement can be avoided. Therefore, the high efficiency and precision coexistence of the movement of the label sticking trolley are ensured.

Preferably, the positioning sensing module comprises an X-direction ultrasonic positioning component and a Y-direction ultrasonic positioning component; the rack is provided with an X-axis positioning plate and a Y-axis positioning plate which are perpendicular to each other; the X-direction ultrasonic positioning assembly forms an X-axis mounting base surface opposite to the X-axis positioning plate; the Y-direction ultrasonic positioning assembly forms a Y-axis mounting base surface opposite to the Y-axis positioning plate; the X-axis mounting base surface and the Y-axis mounting base surface are vertical to each other;

at least two X-axis ultrasonic sensors are arranged on the X-axis mounting base surface side by side, and at least one Y-axis ultrasonic sensor is arranged on the Y-axis mounting base surface side by side; or at least one X-axis ultrasonic sensor is arranged on the X-axis mounting base surface side by side, and at least two Y-axis ultrasonic sensors are arranged on the Y-axis mounting base surface side by side;

preferably, the positioning sensing module acquires and adjusts the current angle by using an ultrasonic positioning technology, which is characterized in that: one of the following schemes is adopted:

firstly, more than two X-axis ultrasonic sensors are arranged; the distance between each X-axis ultrasonic sensor and the X-axis positioning plate is respectively obtained through the time difference between the ultrasonic wave sent by each X-axis ultrasonic sensor and the ultrasonic wave received by each X-axis ultrasonic sensor, the offset angle direction of the normal line of the X-axis mounting base plane and the X-axis positioning plate is calculated through comparing the distance difference value of each X-axis ultrasonic sensor, and the label pasting trolley is driven to rotate according to the offset angle direction until the distance measurement values of all the X-axis ultrasonic sensors are equal; at the moment, the normal line of the X-axis mounting base surface is judged to be vertical to the X-axis positioning plate so as to complete the angle adjustment of the label pasting trolley;

two or more Y-axis ultrasonic sensors are arranged; the distance between each Y-axis ultrasonic sensor and the Y-axis positioning plate is respectively obtained through the time difference between the ultrasonic wave sent by each Y-axis ultrasonic sensor and the ultrasonic wave received by each Y-axis ultrasonic sensor, the offset angle direction of the Y-axis mounting base surface normal line and the Y-axis positioning plate is calculated through comparing the distance difference value of each Y-axis ultrasonic sensor, and the label pasting trolley is driven to rotate according to the offset angle direction until the distance measurement values of the Y-axis ultrasonic sensors are equal; at the moment, the normal line of the Y-axis mounting base surface is judged to be vertical to the Y-axis positioning plate so as to complete the angle adjustment of the label pasting trolley;

more than two X-axis ultrasonic sensors and more than two Y-axis ultrasonic sensors are respectively arranged; the distance between each X-axis ultrasonic sensor and the X-axis positioning plate is respectively obtained through the time difference between the ultrasonic wave sent by each X-axis ultrasonic sensor and the ultrasonic wave received by each X-axis ultrasonic sensor, and the X-axis offset angle direction between the normal of the X-axis mounting base plane and the X-axis positioning plate is calculated through comparing the distance difference of each X-axis ultrasonic sensor; the distance between each Y-axis ultrasonic sensor and the Y-axis positioning plate is respectively obtained through the time difference between the ultrasonic wave sent by each Y-axis ultrasonic sensor and the ultrasonic wave received by each Y-axis ultrasonic sensor, and the Y-axis offset angle direction between the normal of the Y-axis mounting base surface and the Y-axis positioning plate is calculated through comparing the distance difference of each Y-axis ultrasonic sensor; driving the label pasting trolley to rotate according to the X-axis offset angle direction and the Y-axis offset angle direction until the distance measurement values of all the X-axis ultrasonic sensors are equal and the distance measurement values of all the Y-axis ultrasonic sensors are equal; at the moment, the normal of the X-axis mounting base surface is judged to be vertical to the X-axis positioning plate, and the normal of the Y-axis mounting base surface is judged to be vertical to the Y-axis positioning plate, so that the angle adjustment of the label pasting trolley is completed.

The current angle can be obtained and adjusted by the three schemes, so that the normal of the X-axis mounting base surface is kept perpendicular to the X-axis positioning plate, and the normal of the Y-axis mounting base surface is kept perpendicular to the Y-axis positioning plate by the label pasting trolley; and in the third scheme, two groups of distance difference values can be mutually corrected, so that the angle adjustment precision is further improved.

Preferably, the current position is acquired by using an ultrasonic positioning technology, which means that: the coordinate value of the X axis is calculated by the distance measurement of the X axis ultrasonic sensor, and the coordinate value of the Y axis is calculated by the distance measurement of the Y axis ultrasonic sensor.

Preferably, the positioning sensing module acquires and adjusts the current angle by using a gyroscope, which is: the positioning sensing module comprises a gyroscope, and the current angle is detected by detecting the yaw angle through the gyroscope.

Preferably, the marking device is a vacuum chuck; the vacuum sucker is connected with a vacuumizing device; in the step S14, fixing a label by the label fetching device, which means: the vacuumizing device performs vacuumizing work, and the vacuum sucker sucks the label; in the step S24, the label taking assembly releases the current label to be pasted, which means that: and the vacuumizing device stops vacuumizing, and the vacuum chuck loosens the current label to be adhered.

Preferably, the label sticking trolley moves and rotates through the moving assembly; the moving assembly comprises a plurality of omnidirectional wheels which are respectively arranged on the trolley body, and an omnidirectional wheel motor is correspondingly arranged on each omnidirectional wheel.

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

1. the method can realize automatic operation of label printing, stripping and pasting, can reduce the labor intensity of workers and the labor cost, improve the label pasting efficiency, and can avoid label mispasting or label missing caused by human errors; the device is beneficial to reducing the volume of the equipment, can simply reform the original plate storage area, does not need large-scale equipment such as gantry numerical control equipment or a robot arm and the like, and has low cost and small occupied operation field;

2. the label sticking trolley can realize label taking and sticking, is small in size, can accurately take labels, can accurately stick the labels to sticking positions, can improve the label sticking effect, and is beneficial to realizing the standardization of the label sticking positions;

3. in the label pasting trolley of the method, the positioning sensing module can conveniently and accurately detect the position and the angle, so that the label pasting trolley can keep the normal of the X-axis mounting base surface vertical to the X-axis positioning plate and the normal of the Y-axis mounting base surface vertical to the Y-axis positioning plate; the positioning sensing module can adopt a combined strategy of gyroscope and ultrasonic positioning, the gyroscope is used for monitoring a yaw angle during movement, and ultrasonic positioning is used for detecting an angle during static state, so that the high efficiency and precision of the movement of the label pasting trolley are ensured to coexist;

4. in the label pasting trolley of the method, the moving assembly can realize the movement and rotation of the label pasting trolley, the action is flexible, the accurate numerical control operation is convenient, and the moving accuracy is high; can set up a plurality of devices of getting mark, can once only take away many pieces of labels, then paste the mark operation one by one, further improve and paste mark efficiency.

Drawings

FIG. 1 is a flow chart of a method for customizing a furniture board sticker of the present invention;

FIG. 2 is a schematic view of a label application apparatus;

FIG. 3 is a schematic view of the label sticking apparatus after loading a plate;

FIG. 4 is a schematic view showing the construction of a label printing and peeling apparatus in the label sticking apparatus;

FIG. 5 is a schematic view showing a peeling structure of the label printing and peeling apparatus in the label sticking apparatus;

FIG. 6 is a second schematic view of a peeling structure of the label printing and peeling apparatus in the label sticking apparatus;

FIG. 7 is a schematic structural diagram of a dustproof structure of the label printing and peeling apparatus in the label sticking apparatus;

FIG. 8 is a second schematic view of a dustproof structure of the label printing and peeling apparatus in the label sticking apparatus;

FIG. 9 is a schematic view showing a structure of a label application cart in the label application apparatus;

FIG. 10 is a schematic view of the interior of the carriage body of the label sticking carriage in the label sticking apparatus;

FIG. 11 is a schematic view of the label application cart in the label application apparatus with the top cover and the cart housing removed;

FIG. 12 is a second schematic view of the label pasting trolley of the label pasting device after the top cover and the trolley shell are removed;

FIG. 13 is a third schematic view of the label application cart in the label application apparatus with the top cover and the cart housing removed;

FIG. 14 is a schematic structural view of a label picking and lifting device of a label sticking trolley in the label sticking apparatus;

wherein, 1 is a label sticking trolley, 11 is a trolley body, 111 is a trolley shell, 112 is a trolley bottom plate, 12 is a moving component, 121 is an omnidirectional wheel, 122 is an omnidirectional wheel fixing seat, 123 is an omnidirectional wheel motor, 13 is a label taking lifting device, 131 is a mounting frame, 132 is a second rotating motor, 133 is a rocker arm, 134 is a rocker arm, 135 is a guide rod, 136 is a mounting seat, 137 is a linear bearing, 14 is a label taking device, 141 is a vacuumizing device, 15 is a rotating disk, 151 is a first rotating motor, 152 is a rotating disk connecting piece, 153 is a rotating tray, 161 is an X-direction ultrasonic positioning component, 162 is a Y-direction ultrasonic positioning component, 17 is a top cover, 2 is a label printing and stripping device, 21 is a label printing mechanism, 22 is a label stripping structure, 221 is a moving curved surface, 222 is a sharp angle position, 223 is a label receiving platform, 224 is a transmission guide piece, 23 is a dustproof structure, 231 is a dustproof body, 2311 is a label taking port, and a label taking port, 232 is a dustproof cover, 2321 is a dustproof cover body, 2322 is a guide part, 233 is a rotating motor three, 234 is a rack and pinion transmission member, 235 is a dustproof cover guide rod, 3 is a frame, 31 is a mark taking platform, 32 is an X-axis positioning plate, 33 is a Y-axis positioning plate, 4 is a plate mark taking lifting device, 41 is a plate lifting mechanism, 42 is a plate bearing platform, and 5 is a plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Example one

The flow of the method for labeling a customized furniture board is shown in fig. 1, wherein a board lifting device is arranged on one side of a labeling platform of a rack; stacking the plates on the plate lifting device to realize the lifting of the plates; adjusting the height of the upper end face of the uppermost plate to be flush with the label taking platform, so that the label taking platform and the plates form a movement plane of the label pasting trolley together; the label printing and stripping device prints labels, and the labels are stripped from the base paper and then placed on the label receiving platform; the label pasting trolley walks to the label taking platform to take out the label on the label receiving platform, and then walks to the plate to paste the label.

The method can realize automatic operation of label printing, stripping and pasting, can reduce the labor intensity of workers and the labor cost, improve the label pasting efficiency, and can avoid label mispasting or label missing caused by human errors; the method is favorable for reducing the volume of equipment, can simply reform the original plate storage area, does not need large-scale equipment such as gantry numerical control equipment or a robot arm and the like, and has low cost and small occupied operation field.

Specifically, the label is peeled from the base paper and placed on a label receiving platform, and the label receiving platform is characterized in that: the label printing and stripping device comprises a label printing mechanism and a label stripping structure, wherein the label stripping structure forms a moving curved surface, a sharp angle position is arranged on the moving curved surface, and a label receiving platform is positioned on one side of the sharp angle position; the base paper extends out of the label printing mechanism, is attached to the moving curved surface of the label stripping structure and then extends into the label printing mechanism again; pulling the base paper to move by using a traction mechanism of the label printing mechanism; in the process of moving on the base paper attaching moving curved surface, the base paper rotates at a sharp angle position by a large angle, and the label on the base paper is separated from the base paper and falls on the label receiving platform by means of self gravity.

The label pasting trolley walks to the label taking platform to take out labels on the label receiving platform, then walks to the plate to paste the labels, and the method comprises the following steps:

and S1, taking away the label, which comprises the following steps:

and S2, labeling, including the following steps:

and step S3, judging whether the next plate label needs to be pasted: if yes, go to step S1, otherwise, finish the label pasting.

The label sticking trolley moves and rotates through the moving assembly; the moving assembly comprises a plurality of omnidirectional wheels which are respectively arranged on the trolley body, and an omnidirectional wheel motor is correspondingly arranged on each omnidirectional wheel.

In the steps S11 and S21, the label pasting trolley obtains the current angle and the current position through the positioning sensing module, which means that: the positioning sensing module acquires and adjusts the current angle by adopting an ultrasonic positioning technology, and then acquires the current position by adopting the ultrasonic positioning technology;

The positioning sensing module comprises an X-direction ultrasonic positioning component and a Y-direction ultrasonic positioning component; the rack is provided with an X-axis positioning plate and a Y-axis positioning plate which are perpendicular to each other; the X-direction ultrasonic positioning assembly forms an X-axis mounting base surface opposite to the X-axis positioning plate; the Y-direction ultrasonic positioning assembly forms a Y-axis mounting base surface opposite to the Y-axis positioning plate; the X-axis mounting base surface and the Y-axis mounting base surface are vertical to each other;

The current position is obtained by adopting an ultrasonic positioning technology, which means that: the coordinate value of the X axis is calculated by the distance measurement of the X axis ultrasonic sensor, and the coordinate value of the Y axis is calculated by the distance measurement of the Y axis ultrasonic sensor.

The positioning sensing module adopts a gyroscope to acquire and adjust the current angle, and the method comprises the following steps: the positioning sensing module comprises a gyroscope, and the current angle is detected by detecting the yaw angle through the gyroscope.

The marking device is a vacuum chuck; the vacuum sucker is connected with a vacuumizing device; in the step S14, fixing a label by the label fetching device, which means: the vacuumizing device performs vacuumizing work, and the vacuum sucker sucks the label; in the step S24, the label taking assembly releases the current label to be pasted, which means that: and the vacuumizing device stops vacuumizing, and the vacuum chuck loosens the current label to be adhered.

In order to implement the method for labeling a customized furniture board, the present embodiment provides a label-adhering apparatus, which has a structure as shown in fig. 2 to 14, and includes:

a frame 3;

a label printing and peeling device 2 for printing labels and placing the labels on the label receiving platform 223 after peeling off the base paper;

a plate lifting device 4 for storing plates and adjusting the height of the plates;

the label pasting trolley 1 is used for taking out the label on the label receiving platform and walking to the plate with the label to paste the label;

the frame 3 is provided with a label taking platform 31 forming a movement plane of the label sticking trolley 1; the label receiving platform 223 is positioned on the label taking platform 31; the plate lifting device 4 is positioned at one side of the mark taking platform 31; the label sticking trolley 1 is movably arranged on the label taking platform 31.

The working principle of the device is as follows: firstly, the label printing and peeling device 2 prints labels, and the labels are peeled from the base paper and then placed on the label receiving platform 223; the sheet 5 is stacked on the sheet lifting device 4; the plate lifting device 4 adjusts the height of the upper end face of the uppermost plate 5 to be flush with the label taking platform 31, so that the label taking platform 31 and the plate 5 form a movement plane of the label pasting trolley 1 together; then, the label pasting trolley 1 takes out the labels on the label receiving platform 223 and walks to the plate 5 for label pasting.

The label printing, stripping and sticking device can realize label printing, stripping and sticking, can reduce the labor intensity of workers and the labor cost, improve the label sticking efficiency, and can avoid label missticking or label missing due to human errors; the equipment is small in size, the original plate storage area is simply transformed, large-scale equipment such as gantry numerical control equipment or a robot arm is not needed, the cost is low, and the occupied operation field is small.

The plate lifting device 4 comprises a plate bearing platform 42 and a plate lifting mechanism 41; the board carrying platform 42 is provided on the board lifting mechanism 41 to realize the lifting and lowering of the board carrying platform 42.

In order to detect whether the plate is lifted in place, the mark-taking platform 31 can be provided with an in-place sensor. For example, a photoelectric sensor is disposed on a side of the mark taking platform 31 close to the plate bearing platform 42 to detect whether a plate is blocked, so as to determine whether the plate is lifted in place. In practical application, other existing methods can be adopted to judge whether the plate rises in place.

The plate lifting mechanism can drive the plate bearing platform to lift, so that the plate borne on the plate bearing platform can lift. Generally, the plate lifting mechanism drives the plate bearing platform to ascend until the height of the upper end face of the uppermost plate is flush with the marking platform, and the in-place sensor can detect whether the plate ascends in place.

The label printing and peeling apparatus 2 includes a label printing mechanism 21, a label peeling structure 22, and a dust-proof knot 23.

The label printing mechanism 21 can adopt the prior art, such as a label printing mechanism with model number 1150D of Kunshan McMegaku, a label printing mechanism with model number AL-1150D of Shenzhen Xintaili technology Limited, a label printing mechanism with model number X-180 of Shenzhen Jiaxuanya technology Limited, and the like. The label printing mechanism 21 is used for pulling the base paper to move by a self-carried traction mechanism; the label stripping structure 22 forms a moving curved surface 221 for realizing guiding when the bottom paper moves; the moving curved surface 221 is provided with a sharp angle position 222; a label receiving platform 223 is disposed on one side of the sharp corner 222. The base paper rotates at the sharp corner 222 by a large angle, the label does not follow the base paper because the rigidity of the label is greater than the adhesive force between the label and the base paper, and the label is separated from the base paper and falls on the label receiving platform 223 by the gravity of the label.

The transfer guide 224 is arranged on the moving curved surface 221, and the transfer guide 224 and the moving curved surface 221 form a transfer guide port together; the two sides of the transmission guide opening form positioning surfaces respectively. The label platform 223 preferably forms a hollowed-out surface. Further, the label receiving platform 223 is provided with a plurality of protruding cylinders to form a hollow surface. The hollowed-out surface can prevent the label from being stuck on the label receiving platform 223, so that the label can be taken away from the hollowed-out surface conveniently.

The dust-proof structure 23 includes a dust-proof body 231, a dust-proof cover 232, and a dust-proof cover driving assembly. The dustproof body 231 covers the label peeling structure 22; the dust-proof body 231 is provided with a label taking opening 2311; the label taking opening 2311 is opposite to the label receiving platform 223.

The dust cover driving assembly includes a rotating motor iii 233 provided on the dust body 231, a guide member, and a rack and pinion transmission member 234 connected to the rotating motor iii 233. The guide means a dust cover guide 235 connected to the dust body 231. The dust cap 232 includes a dust cap body 2321 and a guide 2322 connected to each other; the guide 2322 is provided with a guide hole; the dust cap guide rod 235 is inserted into the guide hole to be movably connected with the guide portion 2322, so that the dust cap 232 is movably connected with the dust body 231. A rack and pinion drive 234 is connected to the dust cap 232 to effect movement of the dust cap 232. The rack and pinion drive 234 may be of the prior art. The dustproof cover driving component can effectively and accurately drive the dustproof cover 232 to move, and the structure is simple.

The base paper with the label extends out of the label printing mechanism 21, is attached to the moving curved surface 221 of the label stripping structure 22 and then extends into the label printing mechanism 21 again; the base paper is pulled to move by a traction mechanism of the label printing mechanism 21. The sharp corner 222 of the label peeling structure 22 separates the label on the base paper from the base paper, and temporarily adheres the side of the label with the self-adhesive on the label peeling structure 22; when the label needs to be taken out, the dustproof cover driving assembly enables the dustproof cover 232 to move to open the label taking opening 2311; at other times, the dust cap 232 closes the label taking opening 2311. The dustproof structure 23 can form dustproof protection for the label peeling structure 22, and prevents dust from falling on the label peeling structure 22 in a large amount, so that the situation that the labels are adhered with excessive dust after being peeled off to influence viscosity is avoided, and the label peeling structure is beneficial to keeping the labels clean.

The label pasting trolley 1 comprises a trolley body 11, a rotating disk 15, a moving assembly 12 and a positioning sensing module for detecting positions and angles. The trolley body 11 is arranged on the moving assembly 12.

The moving assembly 12 comprises three omnidirectional wheels 121 respectively arranged on the trolley body 11, and each omnidirectional wheel 121 is correspondingly provided with an omnidirectional wheel motor 123; the output shafts of the adjacent omni-directional wheel motors 123 form an included angle of 120 degrees. The moving assembly 12 can move and rotate the label pasting trolley, the movement is flexible, the moving/rotating speed of the label pasting trolley can be adjusted by adjusting the rotating speed of the omnidirectional wheel motor 123, and the moving precision is high. In this embodiment, there are three omni wheels; in practice, the omni-wheel may be more than three, such as three, four, five, six, etc. The moving component can realize the movement and rotation of the trolley body 11. In practical application, other existing components can be adopted to realize the movement and rotation of the trolley body.

The rotating disc 15 is connected with the trolley body 11 through a rotating driving device. Specifically, a first rotating motor 151 is arranged in the trolley body 11, and an output shaft of the first rotating motor 151 is connected with the rotating disc 15; the trolley body 11 is also provided with a rotary tray 153; the rotating tray 153 includes an outer ring tray and an inner ring tray that are rotatable with each other; one of the outer ring tray and the inner ring tray is connected with the trolley body 11, and the other one is connected with the rotating disc 15.

In this embodiment, the rotating disc 15 is connected with five label-taking lifting devices 13, and each label-taking lifting device 13 is correspondingly connected with one label-taking device 14. Each of the indexing elevators 13 comprises a mounting bracket 131 connected to the rotary disc 15, a lifting drive assembly, a mounting block 136 connected to the indexing device 14 and a guide assembly. The lifting driving component comprises a second rotating motor 132 connected with the mounting frame, a rocker arm 133 and a rocker 134; the rocker arm 133 is connected with an output shaft of the second rotating motor 132; the rocker 134 is hinged at both ends to the rocker arm 133 and the mounting seat 136, respectively. The rotation of the second rotating motor 132 is converted into the lifting movement of the mounting seat 136 by the lifting driving assembly, so that the mounting seat 136 can be effectively driven to lift, and the mark taking device 14 is driven to lift. The mounting seat is connected with the mounting frame through the guide assembly to limit the lifting direction. In this embodiment, the guide assembly includes a guide rod 135 and a linear bearing 137; in practice, other existing components may be used for the guide assembly.

The second rotating motor 132 is preferably a steering engine. Because steering wheel light in weight consequently can reduce the whole weight of label and paste the dolly, also be convenient for realize the gravity balance of label and paste the dolly, can reduce the energy consumption and improve duration.

The marking device 14 is preferably a vacuum chuck; the vacuum chuck is connected to a vacuum-pumping device 141. The vacuum means 141 are preferably arranged on the rotating disc 15; the vacuum sucker is connected below the rotating disc 15 through a mark taking lifting device 13; the rotating disc 15 is provided with a mounting hole; the vacuum chuck is connected with a vacuum extractor 141, which means: the vacuum sucker further comprises a tube body, one end of the tube body is connected with the vacuumizing device 141, and the other end of the tube body penetrates through the mounting hole and then is connected with the vacuum sucker.

In this embodiment, five bid collecting devices are provided; in practical application, the number of the marking devices is one or more than two. Set up a plurality of mark devices of getting and can once only take away a plurality of labels, then paste the mark operation one by one, further improve and paste mark efficiency.

The working principle of the label sticking trolley is as follows: first stage taking away the tag: firstly, the moving component 12 works to move the trolley body 11 to a set marking operation position; the mark-taking operation position is on the mark-taking platform 31; in the working process of the moving assembly 12, the positioning sensing module detects the current position and angle of the trolley body 11; then, the rotary driving device adjusts the angle of the rotary disk 15 to enable the label taking device 14 to be opposite to the label position; at this time, the label is positioned on the label receiving platform of the label printing and stripping device 2; the label taking lifting device 13 lowers the label taking device 14 to be contacted with the label, and the label taking device 14 fixes the label; the label taking lifting device 13 lifts the label taking device 14 to drive the labels to lift together; if the number of the label taking devices 14 is more than two and the number of the labels to be taken is more than two at the time, the rotating driving device adjusts the angle of the rotating disk 15 to enable the next label taking device 14 to be opposite to the next label position; the actions of lowering the label taking device 14, fixing the label and lifting the label taking device 14 are executed, and the actions are repeatedly executed until all the labels needing to be taken are taken or all the label taking devices 14 are fixed with the labels at the time.

And (3) sticking a label at the second stage: firstly, the moving assembly 12 works to enable the trolley body 11 to move from the label taking platform 31 to a label pasting operation position set on the plate 5, and the height of the label taking platform 31 is equal to that of the plate 5; in the working process of the moving assembly 12, the positioning sensing module detects the current position and angle of the trolley body 11; then, the rotation driving device adjusts the angle of the rotating disk 15 to enable the label fixed by the label taking device 14 to be opposite to the pasting position; the label taking lifting device 13 lowers the label taking device 14 to lower the labels together, the label taking assembly loosens the labels, the label taking lifting device 13 raises the label taking assembly to separate the label taking assembly from the labels, and the labels are adhered to the adhering position by self-adhesive; if the number of the labels is more than two, the actions of adjusting the position of the trolley body 11, adjusting the angle of the rotating disc 15, descending the label taking device 14, loosening the labels and ascending the label taking device 14 are repeatedly executed until all the labels are adhered to the corresponding adhering positions.

The label sticking trolley can realize label taking and sticking, has small volume and can save cost; in the label taking stage, the trolley body 11 is combined with the rotating disc 15 to adjust the label taking device 14 to align with the label, so that the accuracy of position alignment is improved; in the labeling stage, the trolley body 11 can be used for adjusting the label taking device 14 by combining with the rotating disc 15 to align with the pasting position, so that the label can be accurately pasted on the pasting position, the label pasting effect is improved, and the standardization of the label pasting position is facilitated.

The positioning sensing module is arranged in the trolley body 11. In this embodiment, the positioning sensing module includes an X-direction ultrasonic positioning component 161 and a Y-direction ultrasonic positioning component 162.

The X-direction ultrasonic positioning assembly 161 forms an X-axis mounting base; the Y-direction ultrasonic positioning component 162 forms a Y-axis mounting base; the X-axis mounting base surface and the Y-axis mounting base surface are perpendicular to each other. Two X-axis ultrasonic sensors are arranged on the X-axis mounting base surface side by side; two Y-axis ultrasonic sensors are arranged on the Y-axis mounting base surface side by side.

The two X-axis ultrasonic sensors are respectively opposite to the X-axis positioning plate 32, and the two Y-axis ultrasonic sensors are respectively opposite to the Y-axis positioning plate 33.

The working principle of the X-axis ultrasonic sensor and the Y-axis ultrasonic sensor is as follows: the distance between the two X-axis ultrasonic sensors and the X-axis positioning plate 32 is obtained through the time difference between the ultrasonic waves sent by the two X-axis ultrasonic sensors and the ultrasonic waves received by the two X-axis ultrasonic sensors respectively, the included angle between the normal of the X-axis mounting base plane and the X-axis positioning plate 32 is calculated through comparing the distance difference between the two X-axis ultrasonic sensors, the moving assembly 12 drives the trolley body 11 to rotate according to the calculated included angle value until the distance measurement values of the two X-axis ultrasonic sensors are equal, the normal of the X-axis mounting base plane is perpendicular to the X-axis positioning plate 32 to complete the angle adjustment of the label-sticking trolley, the coordinate value of the X-axis is calculated through the distance measurement of any X-axis ultrasonic sensor at the moment, and. The angle adjustment of the label sticking trolley can be completed by using the Y-axis ultrasonic sensor as a detection object and adopting the same principle, the Y-axis coordinate value is calculated through the distance measurement of any Y-axis ultrasonic sensor, and the X-axis coordinate value is calculated through the distance measurement of any X-axis ultrasonic sensor. And the offset angle direction can be obtained by simultaneously calculating the distance difference of each X-axis ultrasonic sensor and the calculated distance difference of each Y-axis ultrasonic sensor, and the two groups of distance difference values can be mutually corrected, so that the angle adjustment precision is further improved.

In this embodiment, there are two X-axis ultrasonic sensors and two Y-axis ultrasonic sensors, respectively; in practical application, the number of the X-axis ultrasonic sensor and the number of the Y-axis ultrasonic sensor may be two or more, or one X-axis ultrasonic sensor and two or more Y-axis ultrasonic sensors may be provided; or more than two X-axis ultrasonic sensors and one Y-axis ultrasonic sensor. The working principle of the X-axis ultrasonic sensor and the Y-axis ultrasonic sensor is the same as that of the X-axis ultrasonic sensor and the Y-axis ultrasonic sensor.

The designed positioning sensing module can obtain an X-axis coordinate value and a Y-axis coordinate value; the included angle between the normal of the X-axis mounting base surface and the X-axis positioning plate 32 and the included angle between the normal of the Y-axis mounting base surface and the Y-axis positioning plate 33 can be effectively detected, so that the angle of the trolley body 11 is obtained; the positioning between the label pasting trolley and the X-axis positioning plate 32 and the positioning between the label pasting trolley and the Y-axis positioning plate 33 can be conveniently and accurately corrected, so that the label pasting trolley can keep the normal of the X-axis mounting base surface vertical to the X-axis positioning plate 32 and the normal of the Y-axis mounting base surface vertical to the Y-axis positioning plate 33.

In practical application, the positioning sensing module can also adopt other existing positioning sensing modules, and only the position and the angle of the trolley body need to be detected.

The positioning sensing module of the label pasting trolley further comprises a gyroscope used for detecting a yaw angle. In order to improve the operation efficiency, a gyroscope is additionally arranged; when the label pasting trolley is static, the angle of the label pasting trolley is obtained and adjusted by adopting the X-direction ultrasonic positioning assembly and the Y-direction ultrasonic positioning assembly; when the label pasting trolley moves, the yaw angle is obtained only through the gyroscope, so that the angle of the label pasting trolley is obtained and adjusted; the slow response caused by large data calculation amount in the movement can be avoided, and the operation efficiency can be improved. Therefore, the high efficiency and precision coexistence of the movement of the label sticking trolley are ensured.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. A method for labeling a customized furniture board, comprising: a plate lifting device is arranged on one side of the label taking platform of the rack; stacking the plates on the plate lifting device to realize the lifting of the plates; adjusting the height of the upper end face of the uppermost plate to be flush with the label taking platform, so that the label taking platform and the plates form a movement plane of the label pasting trolley together; the label printing and stripping device prints labels, and the labels are stripped from the base paper and then placed on the label receiving platform; the label pasting trolley walks to the label taking platform to take out the labels on the label receiving platform, and then walks to the plate to paste the labels;

and S1, taking away the label, which comprises the following steps:

and S2, labeling, including the following steps:

2. The method for customizing a furniture board sticker of claim 1, wherein: the label is peeled from the base paper and then placed on a label receiving platform, and the label receiving platform is characterized in that: the label printing and stripping device comprises a label printing mechanism and a label stripping structure, wherein the label stripping structure forms a moving curved surface, a sharp angle position is arranged on the moving curved surface, and a label receiving platform is positioned on one side of the sharp angle position; the base paper extends out of the label printing mechanism, is attached to the moving curved surface of the label stripping structure and then extends into the label printing mechanism again; pulling the base paper to move by using a traction mechanism of the label printing mechanism; in the process of moving on the base paper attaching moving curved surface, the base paper rotates at a sharp angle position by a large angle, and the label on the base paper is separated from the base paper and falls on the label receiving platform by means of self gravity.

3. The method for customizing a furniture board sticker of claim 1, wherein: in the steps S11 and S21, the label pasting trolley obtains the current angle and the current position through the positioning sensing module, which means that: the positioning sensing module acquires and adjusts the current angle by adopting an ultrasonic positioning technology, and then acquires the current position by adopting the ultrasonic positioning technology;

4. The method for customized furniture board labeling of claim 3, wherein: the positioning sensing module comprises an X-direction ultrasonic positioning component and a Y-direction ultrasonic positioning component; the rack is provided with an X-axis positioning plate and a Y-axis positioning plate which are perpendicular to each other; the X-direction ultrasonic positioning assembly forms an X-axis mounting base surface opposite to the X-axis positioning plate; the Y-direction ultrasonic positioning assembly forms a Y-axis mounting base surface opposite to the Y-axis positioning plate; the X-axis mounting base surface and the Y-axis mounting base surface are vertical to each other;

at least two X-axis ultrasonic sensors are arranged on the X-axis mounting base surface side by side, and at least one Y-axis ultrasonic sensor is arranged on the Y-axis mounting base surface side by side; or at least one X-axis ultrasonic sensor is arranged on the X-axis mounting base surface side by side, and at least two Y-axis ultrasonic sensors are arranged on the Y-axis mounting base surface side by side.

5. The method for customized furniture board labeling of claim 4, wherein: the positioning sensing module acquires and adjusts the current angle by adopting an ultrasonic positioning technology, and the method comprises the following steps: one of the following schemes is adopted:

6. The method for customized furniture board labeling of claim 4, wherein: the current position is obtained by adopting an ultrasonic positioning technology, which means that: the coordinate value of the X axis is calculated by the distance measurement of the X axis ultrasonic sensor, and the coordinate value of the Y axis is calculated by the distance measurement of the Y axis ultrasonic sensor.

7. The method for customizing a furniture board sticker according to any one of claims 3-6, wherein: the positioning sensing module adopts a gyroscope to acquire and adjust the current angle, and the method comprises the following steps: the positioning sensing module comprises a gyroscope, and the current angle is detected by detecting the yaw angle through the gyroscope.

8. The method for customizing a furniture board sticker according to any one of claims 1-6, wherein: the marking device is a vacuum chuck; the vacuum sucker is connected with a vacuumizing device; in the step S14, fixing a label by the label fetching device, which means: the vacuumizing device performs vacuumizing work, and the vacuum sucker sucks the label; in the step S24, the label taking assembly releases the current label to be pasted, which means that: and the vacuumizing device stops vacuumizing, and the vacuum chuck loosens the current label to be adhered.

9. The method for customizing a furniture board sticker according to any one of claims 1-6, wherein: the label sticking trolley moves and rotates through the moving assembly; the moving assembly comprises a plurality of omnidirectional wheels which are respectively arranged on the trolley body, and an omnidirectional wheel motor is correspondingly arranged on each omnidirectional wheel.