CN110902073A - Mechanical arm end effector for steel coil labeling - Google Patents
Mechanical arm end effector for steel coil labeling Download PDFInfo
- Publication number
- CN110902073A CN110902073A CN201911381650.4A CN201911381650A CN110902073A CN 110902073 A CN110902073 A CN 110902073A CN 201911381650 A CN201911381650 A CN 201911381650A CN 110902073 A CN110902073 A CN 110902073A
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- China
- Prior art keywords
- steel coil
- vacuum suction
- end effector
- support
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 70
- 239000010959 steel Substances 0.000 title claims abstract description 70
- 238000002372 labelling Methods 0.000 title claims abstract description 33
- 239000012636 effector Substances 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000000463 material Substances 0.000 claims abstract description 38
- 238000005096 rolling process Methods 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005097 cold rolling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/46—Applying date marks, code marks, or the like, to the label during labelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
- B65C9/30—Rollers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Labeling Devices (AREA)
Abstract
The invention relates to the technical field of labeling, and provides a mechanical arm end effector for steel coil labeling, which comprises a support, a material sucking mechanism, a rolling mechanism and a laser range finder, wherein the support can be connected with an industrial robot; the material sucking mechanism is used for sucking the label; the rolling mechanism is used for taking down the label on the material sucking mechanism and attaching the label to the surface of the steel coil; the laser range finder is used for detecting the inner ring or the outer ring of the steel coil and feeding back a detected signal to the industrial robot; the material suction mechanism is arranged on the support through a support. According to the mechanical arm end effector for steel coil labeling, automatic operation of steel coil labeling can be achieved through the material sucking mechanism, the rolling mechanism and the laser range finder in combination with an existing industrial robot, and hands of people are liberated.
Description
Technical Field
The invention relates to the technical field of labeling, in particular to an end effector of a mechanical arm for steel coil labeling.
Background
When a steel coil produced by a cold rolling plant is transported and a finished product is delivered from a factory, a self-adhesive label is required to be used for recording information such as the product number and the material number of the steel coil and is adhered to the inner ring or the outer ring of the steel coil, and the label is equivalent to an identity card of the steel coil and is used as a unique identifier for material tracking and production tracing. At present, the label is pasted by manual operation, errors are easy to occur, and a large amount of time of field operators is occupied, so that a corresponding automatic device is needed to be developed to realize the automation of steel coil labeling.
Disclosure of Invention
The invention aims to provide a mechanical arm end effector for steel coil labeling, which can realize the automatic work of the steel coil labeling by combining a material sucking mechanism, a rolling mechanism and a laser range finder with the existing industrial robot.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: an end effector of a mechanical arm for steel coil labeling comprises a support which can be connected with an industrial robot, a material sucking mechanism, a rolling mechanism and a laser range finder; the material sucking mechanism is used for sucking the label; the rolling mechanism is used for rolling the label on the material absorbing mechanism to the surface of the steel coil; the laser range finder is used for detecting the inner ring or the outer ring of the steel coil and feeding back a detected signal to the industrial robot; the material suction mechanism is arranged on the support through a support.
Further, inhale material mechanism and include the vacuum suction plate and do the vacuum generator that the vacuum suction plate provided vacuum suction, the vacuum suction plate has the inner chamber, just the upper surface of vacuum suction plate has the air vent, the lower surface of vacuum suction plate is for adsorbing the adsorption plane of label, the suction hole of vacuum suction plate lower surface passes through the inner chamber and links to each other with the air vent of upper surface, the air vent of vacuum suction plate upper surface pass through the pipeline with vacuum generator intercommunication.
Furthermore, the vacuum suction plate is provided with a plurality of air suction holes, and the air suction holes are uniformly distributed on the lower surface of the vacuum suction plate.
Further, the rolling mechanism comprises a press roller for rolling the label and a driving assembly for providing pressing force for the press roller, and the press roller is installed at one end of a vacuum suction plate of the material suction mechanism.
Further, the driving assembly comprises an air cylinder, a base of the air cylinder is arranged on the support, a driving end of the air cylinder is connected to a vacuum suction plate of the suction mechanism, the air cylinder is hinged to the middle of the vacuum suction plate of the suction mechanism, and the support is hinged to the tail end of the vacuum suction plate of the suction mechanism.
Further, the laser range finder is installed on the support through a bracket.
Further, the ultrasonic distance measuring device is used for detecting the distance between the material sucking mechanism and the surface of the steel coil.
Further, the label labeling device further comprises a bar code scanner for scanning a bar code on the labeled label.
Further, a safety photoelectric switch for safety detection is also included.
Further, the support comprises an installation plate and a steel pipe connected with the installation plate, and a flange capable of being connected with an industrial robot is installed at one end, far away from the installation plate, of the steel pipe; one end of the support is vertically arranged on the mounting plate, and the other end of the support is hinged to the material suction mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. through inhaling material mechanism, rolling mechanism and laser range finder, the automatic work that the coil of strip pasted the mark can be realized to the current industrial robot of reunion, has liberated people's both hands.
2. The label is sucked in a vacuum adsorption mode, so that the damage of the label can be avoided.
3. The pressing roller can be pressed on the arc surface of the inner ring/the outer ring of the steel ring to roll so as to take off the label from the vacuum suction plate to be attached to the surface of the steel ring.
4. The laser range finder is adopted to align the center of the steel coil, when the sudden change of signals is detected in the lifting process, the position and the posture at the moment are combined, the outer diameter, the inner diameter and the axial center elevation of the steel coil are calculated through a program, and the edge of the inner ring or the outer ring of the steel coil is detected.
5. Adopt ultrasonic ranging appearance to detect the distance between vacuum suction disc and the coil of strip surface, can cooperate safe photoelectric switch to carry out safety inspection.
Drawings
Fig. 1 is a first perspective view of an end effector of a mechanical arm for steel coil labeling according to an embodiment of the present invention;
fig. 2 is a second perspective view of the end effector of the mechanical arm for steel coil labeling according to the embodiment of the present invention;
in the reference symbols: 1-a material sucking mechanism; 11-vacuum suction plate; 111-a vent; 112-a suction hole; 12-a press roll; 2-a cylinder; 3-laser range finder; 4-ultrasonic distance measuring instrument; 5-safety photoelectric switch; 6-bar code scanner; 7-support.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides an end effector of a mechanical arm for steel coil labeling, including a support 7 connectable to an industrial robot, further including a material suction mechanism 1, a rolling mechanism, and a laser range finder 3. Wherein, the material sucking mechanism 1 is used for sucking labels; the rolling mechanism is used for taking down the labels on the material absorbing mechanism 1 to the surface of the steel coil; the laser range finder 3 is used for detecting the inner ring or the outer ring of the steel coil and feeding back a detected signal to the industrial robot; the material suction mechanism 1 is arranged on the support 7 through a bracket. In this embodiment, this arm end effector moves to the output position of printer, adopt its vacuum suction plate 11 who inhales material mechanism 1 to absorb the label that the printer printed, then move to the coil of strip by side, make laser range finder's 3 light beam just to coil of strip side, then laser range finder 3 moves from top to bottom on the vertical center face of coil of strip, when laser range finder's 3 measuring beam passes through the outer lane outer fringe or the inner circle outer fringe of coil of strip, its signal that returns takes place the sudden change, this laser range finder 3 feeds back the signal to industrial robot, industrial robot's control program combines the position and the gesture of arm this moment to calculate the external diameter of coil of strip, internal diameter and axial direction elevation, then adopt rolling mechanism to attach the label to appointed position.
The above material suction mechanism 1 is detailed, please refer to fig. 1 and fig. 2, the material suction mechanism 1 includes a vacuum suction plate 11 and a vacuum generator for providing vacuum suction force for the vacuum suction plate 11, the vacuum suction plate 11 has an inner cavity, the upper surface of the vacuum suction plate 11 has vent holes, the lower surface of the vacuum suction plate 11 is an adsorption surface for adsorbing the label and is uniformly distributed with a plurality of suction holes, the suction holes on the lower surface of the vacuum suction plate 11 are connected with the vent holes on the upper surface through the inner cavity, and the vent holes on the upper surface of the vacuum suction plate 11 are communicated with the vacuum generator through a pipeline. In this embodiment, the mode of inhaling material mechanism 1 work is to adopt vacuum adsorption power to adsorb the label, has effectively avoided the damage of label. Specifically, vacuum adsorption is realized by matching the vacuum suction plate 11 with a vacuum generator, the vent hole 111 on the upper surface is communicated with the vacuum generator through a pipeline, and the vacuum generator generates vacuum negative pressure, so that the suction hole 112 on the lower surface can generate suction force, and then the label is sucked. Preferably, the number of the suction holes 112 formed in the lower surface of the vacuum suction plate 11 may be plural and uniformly arranged on the entire vacuum suction plate 11, so that uniform suction force can be ensured.
The rolling mechanism is detailed in the above, please refer to fig. 1 and fig. 2, and includes a pressing roller 12 installed at one end of a vacuum suction plate 11 for rolling the label and a driving assembly for providing a pressing force to the pressing roller 12. In this embodiment, the rolling is performed by pressing the head of the label onto the surface of the steel coil by the pressing roller 12, and then the mechanical arm drives the end effector to roll the pressing roller 12 on the surface of the steel coil to remove the label from the vacuum suction plate 11 and attach the label to the surface of the steel coil. The force of depression is provided by the drive assembly. Preferably, the driving assembly comprises a cylinder 2, a base of the cylinder 2 is arranged on the support 7, a driving end of the cylinder 2 is connected to the vacuum suction plate 11, and the cylinder 2 is used for providing pressing force. The cylinder 2 is hinged with the middle part of the vacuum suction plate 11, and the support is hinged with the tail end of the vacuum suction plate 11.
Referring to fig. 1 and 2, as an optimized solution of the embodiment of the present invention, the laser range finder 3 is mounted on the support 7.
As an optimized solution of the embodiment of the present invention, please refer to fig. 1 and fig. 2, the actuator further includes an ultrasonic distance meter 4 for detecting a distance between the material suction mechanism 1 and the surface of the steel coil. In the present embodiment, the ultrasonic distance meter 4 is suspended next to the vacuum suction plate 11, which is mounted on the support 7 by means of a bracket. Preferably, this executor still includes the safe photoelectric switch 5 that is used for safety inspection, and this safe photoelectric switch 5 face down passes through the support mounting beside ultrasonic ranging appearance 4, and its effect is play safety inspection, and when the coil of strip surface in safe photoelectric switch 5's detection distance, it signals, if ultrasonic ranging appearance 4 did not return the measured value this moment, explains that ultrasonic ranging appearance 4 breaks down, and the robot stop operation needs the manual work to inspect the troubleshooting.
As an optimized solution of the embodiment of the present invention, please refer to fig. 1 and fig. 2, the actuator further includes a bar code scanner 6 for scanning a bar code on the labeled label. In this embodiment, the bar code scanner 6 is mounted face down by the vacuum suction plate 11 through a bracket, and is used for scanning the bar code on the label after labeling and transmitting the information to the upper computer for verification.
As an optimized scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, the support 7 includes a mounting plate and a steel pipe connected to the mounting plate, and a flange connectable to an industrial robot is installed at one end of the steel pipe away from the mounting plate; one end of the support is vertically arranged on the mounting plate, and the other end of the support is hinged to the material suction mechanism 1. In this embodiment, before cylinder 2 does not move, mounting panel and vacuum suction plate 11 just to and the interval sets up, and the support mounting is between mounting panel and vacuum suction plate 11, and cylinder 2 and laser range finder 3 all are located between them to rational utilization space. Preferably, the flange is circular flange, and it is installed on the ring flange of arm sixth axle through the bolt, and the other end is square steel sheet, links to each other with circular flange through the steel pipe, and this steel pipe is preferably square steel pipe, adopts square steel pipe can conveniently stretch into the coil of strip inner circle with end effector and pastes the mark operation.
The specific labeling method matched with the industrial robot comprises the following steps: s1, after receiving the labeling instruction, the printer prints out the label to be labeled; s2, the printed label is supported and jacked up by a label jacking device; s3, the industrial robot controls the end effector to move to the label jacking device, absorbs the label to be labeled, and then sends the label to the steel coil to be taken down and then is adhered to the surface of the steel coil; and S4, after the labeling is finished, the industrial robot returns to the initial position with the end effector to wait for the next labeling instruction. The automatic labeling operation can be realized through the step, and uninterrupted operation can be realized. Preferably, in the step S3, the industrial robot drives the end effector to move to the output position of the printer, the lower surface of the vacuum suction plate 11 of the suction mechanism 1 is tightly attached to the printing surface of the self-adhesive label, and the pressure roller 12 is just pressed against the head of the label; the vacuum suction plate 11 sucks the label by using vacuum; the industrial robot drives the end effector to enable the laser range finder 3 to be over against the side face of the steel coil, the laser beam is perpendicular to the side face of the steel coil, the distance between the side face of the steel coil and the end effector is measured, and then the laser range finder 3 moves from top to bottom on the vertical center face of the steel coil. When the light beam of the laser range finder 3 passes through the outer ring edge or the inner ring edge of the steel coil, the returned signal generates sudden change, and the outer diameter, the inner diameter and the center elevation of the steel coil are calculated by a program according to the position and the posture of the robot at the moment; calculating the position and the posture of the industrial robot for labeling the outer ring/the inner ring by a program according to the calculated steel coil size and the position parameters, and driving the end effector to move above the labeling position by the industrial robot; after the safety photoelectric switch 5 returns a signal in the process, if the ultrasonic distance meter 4 does not return a measured value, the ultrasonic distance meter 4 is in fault, the robot stops running, and manual inspection is needed to remove the fault; a piston rod of the cylinder 2 extends out, and the material sucking mechanism 1 swings out downwards; the industrial robot drives the end effector to move towards the surface of the steel coil, the ultrasonic distance measuring instrument 4 returns measurement data to a mechanical arm control program in the process, when a return value is equal to a program preset value, a compression roller 12 of the material suction mechanism 1 is in contact with the surface of the steel coil, the end effector stops moving, the compression roller 12 presses the head of the label to the surface of the steel coil, and the rest of the label is still adsorbed on the vacuum suction plate 11; the industrial robot drives the end effector to enable the compression roller 12 to be pressed on the arc surface of the inner ring/outer ring of the steel coil to roll, and the label is taken off from the vacuum suction plate 11 and attached to the surface of the steel coil; the bar code scanner 6 scans the bar code on the label and returns the data to the upper computer for verification.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a coil of strip pastes target arm end effector, includes the support that can be connected with industrial robot, its characterized in that: also comprises a material suction mechanism, a rolling mechanism and a laser range finder,
the material sucking mechanism is used for sucking the label;
the rolling mechanism is used for taking down the label on the material sucking mechanism to the surface of the steel coil;
the laser range finder is used for detecting the inner ring or the outer ring of the steel coil and feeding back a detected signal to the industrial robot;
the material suction mechanism is arranged on the support through a support.
2. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: inhale material mechanism and include the vacuum suction plate and do the vacuum generator that the vacuum suction plate provided vacuum suction, the vacuum suction plate has the inner chamber, just the upper surface of vacuum suction plate has the air vent, the lower surface of vacuum suction plate is for adsorbing the adsorption plane of label, the air suction hole of vacuum suction plate lower surface passes through the inner chamber and links to each other with the air vent of upper surface, the air vent of vacuum suction plate upper surface pass through the pipeline with vacuum generator communicates.
3. The end effector of the mechanical arm for steel coil labeling according to claim 2, wherein: the vacuum suction plate is characterized in that the number of the suction holes is multiple, and the suction holes are uniformly distributed on the lower surface of the vacuum suction plate.
4. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: the rolling mechanism comprises a press roller used for rolling the label and a driving assembly used for providing pressing force for the press roller, and the press roller is installed at one end of a vacuum suction plate of the material suction mechanism.
5. The end effector of the mechanical arm for steel coil labeling according to claim 4, wherein: the driving assembly comprises an air cylinder, a base of the air cylinder is arranged on the support, a driving end of the air cylinder is connected to a vacuum suction plate of the suction mechanism, the air cylinder is hinged to the middle of the vacuum suction plate of the suction mechanism, and the support is hinged to the tail end of the vacuum suction plate of the suction mechanism.
6. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: the laser range finder is arranged on the support through a support.
7. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: the ultrasonic distance measuring device is characterized by further comprising an ultrasonic distance measuring instrument for detecting the distance between the material sucking mechanism and the surface of the steel coil.
8. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: also comprises a bar code scanner for scanning the bar code on the labeled label.
9. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: and a safety photoelectric switch for safety detection is also included.
10. The end effector of the mechanical arm for steel coil labeling according to claim 1, wherein: the support comprises an installation plate and a steel pipe connected with the installation plate, and one end of the steel pipe, which is far away from the installation plate, is provided with a flange which can be connected with an industrial robot; one end of the support is vertically arranged on the mounting plate, and the other end of the support is hinged to the material suction mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911381650.4A CN110902073A (en) | 2019-12-27 | 2019-12-27 | Mechanical arm end effector for steel coil labeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911381650.4A CN110902073A (en) | 2019-12-27 | 2019-12-27 | Mechanical arm end effector for steel coil labeling |
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| Publication Number | Publication Date |
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| CN110902073A true CN110902073A (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911381650.4A Pending CN110902073A (en) | 2019-12-27 | 2019-12-27 | Mechanical arm end effector for steel coil labeling |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111453118A (en) * | 2020-04-24 | 2020-07-28 | 王超锋 | Color printing paper adhesion process system and process for annular packaging piece |
| CN111994407A (en) * | 2020-08-06 | 2020-11-27 | 大连华冶联自动化有限公司 | End effector of robot for code spraying and labeling of steel coil |
| CN113071776A (en) * | 2021-04-02 | 2021-07-06 | 江苏创源电子有限公司 | Packing carton pastes mark system and packing carton pastes mark assembly line |
| CN115009582A (en) * | 2022-07-04 | 2022-09-06 | 苏州德机自动化科技有限公司 | Automatic film pasting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111453118A (en) * | 2020-04-24 | 2020-07-28 | 王超锋 | Color printing paper adhesion process system and process for annular packaging piece |
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| CN115009582A (en) * | 2022-07-04 | 2022-09-06 | 苏州德机自动化科技有限公司 | Automatic film pasting equipment |
| CN115009582B (en) * | 2022-07-04 | 2024-02-09 | 苏州德机自动化科技有限公司 | Automatic change pad pasting equipment |
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