Parallel mechanisms offer advantages such as high stiffness, structural stability, precision, low inertia, and high load-bearing capacity. They have significant application value in packaging machinery, widely used in filling, sorting, sealing, and other production processes. The application of parallel robots is crucial for improving product quality and enhancing production efficiency. Labeling has become an indispensable process in modern manufacturing. However, most current labeling mechanisms are custom-made devices that do not adapt well to diverse production trends. Especially in the logistics industry, there is a need for high-precision and high-efficiency labeling equipment that can handle packages of various shapes and materials. Using robots for labeling can significantly boost production efficiency and increase automation.
Jill’s labeling mechanism is designed to label products of different shapes. The end effector of the mechanism should have the ability to rotate at large angles to adapt to various product shapes and label at different positions on the product.
General Labeling Mechanism Working Principle
There are various types of labels, including sheet labels and roll labels. Different types of labels require different labeling systems. Generally, a labeling system needs to complete several actions: label feeding, peeling, transferring, and attaching. The labeling mechanism locates the product to be labeled, and the labeling device applies the label to the product’s surface. Jill Group’s parallel mechanism offers advantages like good acceleration and speed, suitable for stamping or air jet labeling. This mechanism is used for positioning and transferring actions in the labeling process, fixing the stamping mechanism or air nozzle to the moving platform.
Jill Labeling Machine Working Principle
Jill’s parallel mechanism adjusts the position of the moving platform to accommodate products of different shapes. The driving pair of the mechanism is a moving pair connected to the frame. Therefore, the driving unit of the moving pair can be fixed on the frame, greatly reducing the weight of the moving platform and the supporting chain. This enhances the dynamic performance of the labeling mechanism, allowing it to label products continuously without stopping, which improves labeling efficiency compared to existing stamping labeling machines or serial robotic arm labeling machines.
Jill’s labeling machine offers continuous working space without voids. It can move along the x-axis and y-axis, rotate around the x-axis with three degrees of freedom. The kinematic inverse solution of the mechanism is solved using closed-loop vector methods, and a three-dimensional space search method is used to search the workspace. The pose space is plotted, showing that most of the workspace in the vertical direction can achieve a maximum rotation angle of 90°. During production, the labeling mechanism moves along the slide rail, labeling along with the product’s movement. By adjusting the position and posture of the moving platform, it positions the labeling location and then completes the label attachment. It can label on surfaces of different shapes, enhancing the mechanism’s versatility and adaptability, effectively improving labeling efficiency.
