CN115783450B - Labeling control method and device - Google Patents
Labeling control method and deviceInfo
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- CN115783450B CN115783450B CN202211687064.4A CN202211687064A CN115783450B CN 115783450 B CN115783450 B CN 115783450B CN 202211687064 A CN202211687064 A CN 202211687064A CN 115783450 B CN115783450 B CN 115783450B
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Abstract
本申请涉及贴标装置技术领域，具体而言，涉及一种贴标控制方法及装置，一定程度上可以解决贴标精度低的问题。所述方法应用于处理器，所述处理器分别和编码器、服务器相连接，具体包括：获取所述服务器传输的多个预贴标位置点数，所述预贴标位置点数为当需要对待贴标产品进行贴标时，所述编码器对应的点数；获取所述编码器发送的输送信号，并基于所述输送信号确定所述编码器的实时点数；当所述实时点数与其中一个预贴标位置点数相匹配时，向贴标设备传输贴标信号，所述贴标信号用于触发所述贴标设备执行贴标操作。
The present application relates to the technical field of labeling devices, and more specifically, to a labeling control method and device, which can solve the problem of low labeling accuracy to a certain extent. The method is applied to a processor, which is connected to an encoder and a server respectively, and specifically includes: obtaining multiple pre-labeling position points transmitted by the server, wherein the pre-labeling position points are the points corresponding to the encoder when the product to be labeled needs to be labeled; obtaining a conveying signal sent by the encoder, and determining the real-time point count of the encoder based on the conveying signal; when the real-time point count matches one of the pre-labeling position points, transmitting a labeling signal to the labeling device, wherein the labeling signal is used to trigger the labeling device to perform a labeling operation.
Description
Technical Field
The application relates to the technical field of labeling devices, in particular to a labeling control method and device.
Background
The tag is used to mark information that the current product is distinguishable from other products to facilitate locating and locating a particular product. Most of the back surfaces of the labels are self-adhesive, and can be firmly adhered to the outer surfaces of products. At present, a product is labeled by labeling equipment, the product to be labeled is carried and conveyed by conveying mechanisms such as a conveyor belt, when the conveying mechanisms convey the product to be labeled to the labeling equipment, the labeling equipment is in contact with the outer wall of the product to be labeled, and the label with the adhesive on the back is attached to the outer wall of the product to be labeled, so that the labeling process of the product is completed.
In the implementation process of labeling, in order to achieve accurate labeling, as shown in fig. 1, a position sensor is arranged on a conveying mechanism to record the running position of a product to be labeled on the conveying mechanism in real time, the labeling equipment can receive a position signal transmitted by the position sensor, when the position sensor detects that the product to be labeled runs to the labeling equipment, a signal is transmitted to the labeling equipment, after the labeling equipment receives the signal of the position sensor, whether labeling is needed or not is judged according to the signal, and if the labeling is needed, the labeling equipment executes labeling operation if the labeling is needed.
However, in the above-mentioned scheme, since the labeling device needs to determine whether the labeling operation needs to be performed based on the position signal after obtaining the position signal when the product to be labeled runs to the labeling device, the situation of delay of the labeling operation is very easy to occur at this time, and thus the labeling precision is low.
Disclosure of Invention
In order to solve the problem of low labeling precision, the application provides a labeling control method and device.
Embodiments of the present application are implemented as follows:
a first aspect of an embodiment of the present application provides a labeling control method, including:
Obtaining a plurality of pre-labeling position points transmitted by the server, wherein the pre-labeling position points are points corresponding to the encoder when a product to be labeled is required to be labeled;
acquiring a conveying signal sent by the encoder, and determining the real-time point number of the encoder based on the conveying signal;
And when the real-time points are matched with one of the pre-labeling position points, transmitting a labeling signal to labeling equipment, wherein the labeling signal is used for triggering the labeling equipment to execute labeling operation.
In some embodiments, after the determining the real-time point of the encoder based on the transport signal, the method further comprises ignoring the current real-time point if the current real-time point is less than a last real-time point.
In some embodiments, a plurality of the pre-labeled position points form an incremental sequence.
In some embodiments, the encoder employs an incremental encoder.
In some embodiments, when the incremental encoder is employed, the transport signal includes a first pulse signal and a second pulse signal, the pulse periods of the first pulse signal and the second pulse signal are the same, and the timings of rising and falling edges of the first pulse signal and rising and falling edges of the second pulse signal, respectively, are different;
the determining the real-time point number of the encoder based on the transport signal includes:
counting when the first pulse signal and the second pulse signal meet a first condition;
And determining the quotient obtained by dividing the counted value and the preset value as the real-time point number.
In some embodiments, the first condition is that the waveform of the first pulse signal is a trough and the second pulse signal is at a falling edge.
A second aspect of an embodiment of the present application provides a labeling control device, including:
the processor is in signal connection with the encoder and the server;
a memory for storing the processor-executable instructions;
The processor is configured to read the executable instruction from the memory and execute the instruction to implement the labeling control method according to any one of the first aspect.
In some embodiments, the processor comprises:
The point receiving module is in signal connection with the server and is used for acquiring a plurality of pre-labeling position points transmitted by the server, wherein the pre-labeling position points are points corresponding to the encoder when a product to be labeled is required to be labeled;
The encoder counting module is in signal connection with the encoder and is used for acquiring a conveying signal sent by the encoder and determining the real-time point number of the encoder based on the conveying signal;
and the signal output module is in signal connection with the labeling equipment and is used for outputting a labeling signal to the labeling equipment when the real-time point number is matched with one of the pre-labeling position points, and the labeling signal is used for triggering the labeling equipment to execute labeling operation.
In some embodiments, the signal output module is further to:
and after determining the real-time point number of the encoder based on the conveying signal, if the current real-time point number is smaller than the last real-time point number, ignoring the current real-time point number.
In some embodiments, when the incremental encoder is employed, the transport signal includes a first pulse signal and a second pulse signal, the pulse periods of the first pulse signal and the second pulse signal are the same, and the timings of rising and falling edges of the first pulse signal and rising and falling edges of the second pulse signal, respectively, are different;
When determining the real-time point number of the encoder based on the conveying signal, the encoder counting module comprises a counting unit, wherein the counting unit is used for:
counting when the first pulse signal and the second pulse signal meet a first condition;
And determining the quotient obtained by dividing the counted value and the preset value as the real-time point number.
The method has the advantages that the processor acquires the number of the plurality of pre-labeling positions in the server, then acquires the conveying signals sent by the encoder in real time, and reads the number of the real-time points of the encoder based on the conveying signals, so that the processor can output labeling signals to labeling equipment when the number of the real-time points is the same as that of one of the pre-labeling positions, and the labeling signals enable the labeling equipment to label a product to be labeled.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a diagram of an application scenario during a labeling process of a labeling apparatus according to the background of the application;
FIG. 2 is a flow diagram of a labeling control method according to one or more embodiments of the application;
FIG. 3 is an application scenario diagram of a labeling control method according to one or more embodiments of the present disclosure;
FIG. 4 is a schematic diagram illustrating an encoder point count in a labeling control method according to one or more embodiments of the present application;
FIG. 5 is a flowchart showing the steps performed by a highlighting processor in a method of labeling control according to one or more embodiments of the present application for determining real-time points of an encoder based on a transport signal;
FIG. 6 is a schematic structural view of a labeling control device in a labeling device according to one or more embodiments of the application;
Fig. 7 is a schematic diagram showing a structure of a highlighting server in a labeling apparatus according to one or more embodiments of the present application.
Detailed Description
For the purposes of making the objects, embodiments and advantages of the present application more apparent, an exemplary embodiment of the present application will be described more fully hereinafter with reference to the accompanying drawings in which exemplary embodiments of the application are shown, it being understood that the exemplary embodiments described are merely some, but not all, of the examples of the application.
It should be noted that the brief description of the terminology in the present application is for the purpose of facilitating understanding of the embodiments described below only and is not intended to limit the embodiments of the present application. Unless otherwise indicated, these terms should be construed in their ordinary and customary meaning.
The terms "first," "second," "third," and the like in the description and in the claims and in the above-described figures are used for distinguishing between similar or similar objects or entities and not necessarily for limiting a particular order or sequence, unless otherwise indicated. It is to be understood that the terms so used are interchangeable under appropriate circumstances.
The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements is not necessarily limited to all elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.
In order to facilitate distinguishing various products, the products are generally required to be labeled by a labeling device, and the labeling device is attached to a proper position of the product to be labeled to help improve the aesthetic property of the labeled product, so how to accurately control the labeling device to accurately label the proper position of the product to be labeled to improve the labeling precision of the labeling device is very important. Referring to the schematic view of the scene shown in fig. 1, the current labeling control manner is that the position of a product to be labeled is detected in real time through a position sensor such as an infrared detector, when the product to be labeled is located in the detection range of the position sensor, the position sensor transmits a signal to labeling equipment, after receiving the signal of the position sensor, labeling equipment needs to judge whether labeling is required according to the signal, and when labeling is required, the signal is transmitted to the labeling equipment to trigger the labeling equipment to execute labeling operation on the product to be labeled which is conveyed to the labeling equipment.
However, in the above-mentioned manner of obtaining the position of the product to be labeled through the position sensor, when the product to be labeled moves to the labeling device, the position sensor converts the position information of the product to be labeled into an electrical signal and transmits the electrical signal to the labeling device, and the labeling device also needs to determine whether to execute the labeling operation according to the signal.
In view of the above, the present application provides a method and apparatus for controlling labeling, which do not transmit signals through a position sensor, but preset the number of pre-labeling position points in a server, then let a processor acquire a plurality of pre-labeling position points in the server, then the processor acquires a transmission signal sent by an encoder in real time, and reads the real-time points of the encoder based on the transmission signal. When the number of the real-time points acquired by the server is the same as the number of one of the pre-labeling positions, the processor can output labeling signals to labeling equipment, and the labeling signals enable the labeling equipment to label the products to be labeled. Obviously, the situation of delayed action of the output labeling signal is not easy to exist in the process, so that the labeling control method has good instantaneity and can ensure that labeling precision of labeling equipment is high.
The labeling control method and device in the application are specifically described below.
Fig. 2 is a schematic flow chart of a labeling control method, as shown in fig. 2, in a first aspect, the application discloses a labeling control method, as shown in fig. 3, wherein the labeling control method is applied to a processor, the processor is respectively connected with an encoder and a server, the encoder is connected in a conveying mechanism on a production line, and the specific steps include, in combination with the steps shown in fig. 2 and 3:
In step 100, a plurality of pre-labeling position points transmitted by the server are obtained, wherein the pre-labeling position points are points corresponding to the encoder when the product to be labeled needs to be labeled.
It should be noted that, after the encoder is connected to the conveying mechanism of the production line, signals (such as bit streams) or data can be compiled and converted into signal forms that can be used for communication, transmission and storage, for example, the encoder can convert angular displacement or linear displacement into electrical signals, that is, the encoder can convert the operation state information of the conveying mechanism into electrical signals, and generally, the electrical signals of the encoder are processed to form points capable of representing the conveying distance of the conveying mechanism. Because the product to be labeled is conveyed on the conveying mechanism, an operator can know the running state of the corresponding conveying mechanism and then convert the running state into the point corresponding to the corresponding encoder signal when each product to be labeled needs to be labeled according to the conveying speed of the conveying mechanism on the production line and the labeling position of the product to be labeled. And then setting a plurality of pre-labeling position points, manually inputting the plurality of pre-labeling position points into the server, and reading the plurality of pre-labeling position points in the server by the processor at one time. And then, the processor only needs to receive the real-time running state of the product to be labeled in real time.
In some embodiments, the plurality of pre-labeled position points form an increasing sequence, e.g., the plurality of pre-labeled position points are 100,200,300 in sequence. For example, the number of the plurality of pre-labeled positions is 20,50,80 and 110 in order, and for example, the number of the plurality of pre-labeled positions is 1,2,3, and 4 in order. It can be understood that the starting point of the number of pre-labeling positions is set according to the actual application scenario, for example, the number of points corresponding to the encoder can be used as the starting point when the labeling device and the conveying mechanism run simultaneously.
It should be noted that, among the plurality of pre-labeled position points, the adjacent pre-labeled position points represent distances, so that the distance between the pre-labeled position points can be adjusted by adjusting the transmission speed of the conveying mechanism, for example, after adjusting the transmission speed of the conveying mechanism, the distance between the adjacent pre-labeled position points is 1 meter, and then the distance between the 1 st pre-labeled position point and the 100 th pre-labeled position point is 99 meters.
In some embodiments, the number of pre-labeled position points does not exceed 6000 in order to minimize the likelihood of processor errors. It should be noted that, when the number of the pre-labeling position points in a single batch exceeds 6000, the number of the pre-labeling position points should not exceed 6000 because the number of the pre-labeling position points is stored and processed by the processor, so that the possibility of errors is easy to occur, which is unfavorable for the accurate labeling of the labeling device.
In step 200, a transport signal sent by the encoder is obtained, and real-time points of the encoder are determined based on the transport signal.
It should be noted that, the encoder includes an incremental encoder and an absolute value encoder, the incremental encoder converts the displacement into a periodic electrical signal, and then converts the electrical signal into counting pulses, and because the product to be labeled is conveyed on the conveying mechanism, the number of pulses can be used to represent the displacement of the product to be labeled. When using an absolute value encoder, the position of the product to be labelled corresponds to a defined digital code, since the product to be labelled is transported on the transport means, so that the indication of the encoder is only dependent on the start and end positions of the measurement and not on the intermediate course of the measurement.
During the working process of the incremental encoder, a phase_A signal and a phase_B signal are generated in real time, wherein the phase_A signal and the phase_B signal are signals of two channels of the encoder A phase and the encoder B phase respectively, and the phase_A signal and the phase_B signal are generally orthogonal (namely, the phase difference between the A phase and the B phase is 90 degrees) pulse signals.
In some embodiments, an incremental encoder may be used, based on the working principle of the incremental encoder, as shown in fig. 4, when the incremental encoder is used, the transmission signal includes a first pulse signal and a second pulse signal, that is, the first pulse signal is phaseA signals, the second pulse signal is phaseB signals, the pulse periods of the first pulse signal and the second pulse signal are the same, and the rising edge and the falling edge of the first pulse signal and the rising edge and the falling edge of the second pulse signal respectively correspond to different moments.
In some embodiments, after the processor acquires the transport signal sent by the encoder, the step of determining the real-time point number of the encoder based on the transport signal specifically includes, as shown in fig. 4 and 5:
in step 510, counting is performed when the first pulse signal and the second pulse signal satisfy a first condition.
When one end of the product to be labeled in the length direction starts to run on the production line, the encoder starts to output the conveying signal, and as long as the conveying signal has a rising edge or a falling edge, the processor performs accumulated counting, namely, the counting value is 1 when the conveying signal has a rising edge or a falling edge for the first time, and the counting value is 10 when the conveying signal has a rising edge or a falling edge for the tenth time, and the like.
When determining the first condition of each period in the conveying signal, the first condition may be determined according to the actual situation, for example, in some embodiments, the first condition is that the waveform of the first pulse signal is a trough, and the second pulse signal is at a falling edge, as shown in fig. 4, the period in which the first condition occurs is four, so the processor counts every four counting points, that is, as the processor continues to acquire the conveying signal sent by the encoder, the processor can sequentially read the counting point values to be 4, 8 and 12.
In step 520, it is determined that the quotient obtained by dividing the counted value by the preset value is the real-time point number.
The real-time point number is obtained once every four counting points, so that the number of the preset value is the same as the number of the cycles of the first condition in order to facilitate the subsequent comparison process, for example, when the processor counts once every four counting points, the preset value is four, at this time, the real-time point number is the quotient obtained by dividing the number counted by the processor by the preset value, namely, when the number obtained by sequentially reading the counting points by the processor is 4, 8, 12 and 16, the real-time point number obtained by the processor is sequentially 1, 2, 3 and 4.
And 300, transmitting a labeling signal to labeling equipment when the real-time point number is matched with one of the pre-labeling position points, wherein the labeling signal is used for triggering the labeling equipment to execute labeling operation.
The processor is provided with a pre-labeling position queue which is used for sequentially corresponding to the received plurality of pre-labeling position points, and the pre-labeling position queue can trigger the processor to output labeling signals. Taking 10,20,30 and 40 as examples, when the processor reads the first real-time point, the processor compares the real-time point with the minimum value 10 of the pre-labeling position point, if the two are different, the processor continuously compares the subsequently read real-time point with the pre-labeling position point 10 until the same, and outputs a first labeling signal, at this time, the labeling signal triggers the labeling device to complete the first labeling action, meanwhile, the pre-labeling position point 10 is released, the next pre-labeling position point value 20 is supplemented, the processor compares the subsequently obtained real-time point with the new minimum value 20 of the pre-labeling position point again until the real-time point is the same as the pre-labeling position point 20, and outputs a labeling signal again after the same.
In the above process, in some embodiments, in order to reduce errors occurring in the processor, after determining the real-time points of the encoder based on the transmission signal, the method further includes comparing the real-time points obtained again by the processor with the real-time points obtained last time, if the current real-time points obtained again are smaller than the real-time points obtained last time, ignoring the current real-time points, continuing to obtain the later real-time points until the obtained current real-time points are equal to the corresponding pre-labeling position points, and outputting the labeling signal again.
Through the method, the number of pre-labeling position points is preset in the server, the processor acquires all the pre-labeling position points in the server, then the processor acquires the conveying signals sent by the encoder, the real-time points of the encoder are determined based on the conveying signals, when the real-time points are matched with one of the pre-labeling position points, the processor transmits labeling signals to labeling equipment, the labeling signals trigger the labeling equipment to precisely label, and at the moment, no delay exists in the whole process of controlling labeling of the labeling equipment, so that the labeling equipment can precisely label. It should be noted that after the method and the processor receive the encoder signal, the counting value for counting the number of the encoder based on the encoder signal is transmitted to the server, the server compares the current real-time number with the preset pre-labeling position number of the local machine, and when the current real-time number is the same as one of the preset labeling position numbers, the server outputs the labeling signal.
As shown in fig. 6, in a second aspect, the present application discloses a labeling control device, which includes a processor, a memory and a communication interface connected by a communication bus, wherein the memory is used for storing processor executable instructions, and the memory includes a nonvolatile storage medium and an internal memory, and the nonvolatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium, and the database of the labelling control apparatus is used to store labelling control data. The processor is connected with the encoder and the server through signals, the processor is connected with the server through a PCI-E interface, the processor is connected with the labeling equipment through an asynchronous receiving and transmitting transmitter (Universal Asynchronous RECEIV ER TRANSMITTER, UART), and the processor is used for reading executable instructions from the memory and executing the instructions to realize the labeling control method of any one of the first aspect.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the labelling control apparatus to which the present inventive arrangements are applied, and that a particular labelling control apparatus may include more or fewer components than shown in fig. 6, or may combine certain components, or have a different arrangement of components.
In some embodiments, as shown in fig. 7, the processor includes a point number receiving module in signal connection with the server, an encoder counting module in signal connection with the encoder, and a signal output module in signal connection with the labeling device, wherein:
The point receiving module is used for obtaining a plurality of pre-labeling position points transmitted by the server, wherein the pre-labeling position points are points corresponding to the encoder when the product to be labeled is required to be labeled.
The encoder counting module is used for acquiring the conveying signals sent by the encoder and determining the real-time points of the encoder based on the conveying signals.
The signal output module is used for outputting a labeling signal to the labeling equipment when the real-time point number is matched with one of the pre-labeling position points, and the labeling signal is used for triggering the labeling equipment to execute labeling operation.
In some embodiments, the processor adopts a Field-Programmable gate array (Field-Programmable GATEARRAY, FPGA) chip, the FPGA is a semi-custom circuit developed on the basis of traditional logic circuits such as PAL (Programmable logic array), GAL (general-purpose array logic), CPLD (complex Programmable logic device) and the like and the gate array, the connection and logic layout of the underlying logic operation unit of the FPGA are uncured, and a user can program the logic unit and the switch array through EDA software to perform functional configuration, so as to implement an integrated circuit chip with specific functions.
In some embodiments, the point receiving module is configured to form an incremental sequence of the plurality of pre-labeled location points as the plurality of pre-labeled location points are acquired from the server.
In some embodiments, when the point receiving module obtains the plurality of pre-labeled position points transmitted by the server, the number of the pre-labeled position points is not more than 6000.
In some embodiments, after determining the real-time point of the encoder based on the delivery signal, the signal output module is further configured to ignore the current real-time point if the current real-time point is less than the last real-time point.
In some embodiments, the conveying signal includes a first pulse signal and a second pulse signal, the pulse periods of the first pulse signal and the second pulse signal are the same, and the rising edge and the falling edge of the first pulse signal and the rising edge and the falling edge of the second pulse signal respectively correspond to different moments. When determining the real-time point number of the encoder based on the conveying signal, the encoder counting module comprises a counting unit, and the counting unit is used for:
counting when the first pulse signal and the second pulse signal meet a first condition;
and determining the quotient obtained by dividing the counted value and the preset value as the real-time point number.
In some embodiments, the encoder count module determines the number of real-time points of the encoder based on the transport signal, the first condition is that the waveform of the first pulse signal is a trough, and the second pulse signal is at a falling edge.
According to the technical scheme, all modules in the server are matched with each other, so that the aim of controlling the labeling equipment to accurately label can be achieved.
For specific limitations of the processor, reference is made to the above limitation of the labeling control method, and no further description is given here. Each of the above-described modules in the processor may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method embodiments described above.
The method has the advantages that the processor acquires the conveying signals sent by the encoder in real time after the processor acquires the number of the plurality of pre-labeling positions in the server, and reads the number of the encoder in real time based on the conveying signals, so that the processor can output labeling signals to labeling equipment when the number of the real time points is the same as one of the pre-labeling positions, and the labeling signals enable the labeling equipment to accurately label the products to be labeled.
The conveying signals comprise the first pulse signals and the second pulse signals, and the counting is carried out when the first pulse signals and the second pulse signals meet the first condition, so that the real-time point number can be conveniently obtained.
And when the current real-time point is smaller than the previous real-time point, the current real-time point is ignored, so that the whole labeling process is not easy to make mistakes.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile memory may include Read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
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| CN109533537A (en) * | 2018-12-14 | 2019-03-29 | 惠州市永信利自动化设备有限公司 | A kind of control circuit of loader |
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| US6561246B2 (en) * | 2001-01-23 | 2003-05-13 | Yang Sheng-Hui | Labeling machine capable of precise attachment of a label to different sizes of containers |
| CN106184956B (en) * | 2016-08-19 | 2019-08-06 | 广东省智能制造研究所 | A high-precision linear labeling machine |
| CN112537517B (en) * | 2020-12-29 | 2022-07-22 | 广州市普理司科技有限公司 | Roll-shaped material labeling equipment and control method thereof |
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| CN2457042Y (en) * | 2000-10-27 | 2001-10-31 | 皇将精密工业有限公司 | Automatic adjustment device for labeling position of labeling machine |
| CN109533537A (en) * | 2018-12-14 | 2019-03-29 | 惠州市永信利自动化设备有限公司 | A kind of control circuit of loader |
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