CN113910210B - Hook and tag cross-connection system - Google Patents
Hook and tag cross-connection system Download PDFInfo
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- CN113910210B CN113910210B CN202111198507.9A CN202111198507A CN113910210B CN 113910210 B CN113910210 B CN 113910210B CN 202111198507 A CN202111198507 A CN 202111198507A CN 113910210 B CN113910210 B CN 113910210B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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- Labeling Devices (AREA)
Abstract
The invention relates to a cross-connection system of a hook and a tag, which is applied to a robot with a camera, and comprises a motion module, a hook identification clamping module, a tag identification cross-connection module and a steel wire identification hanging module; and a motion module: for controlling the movement of the robot in space; hook identification clamping module: the camera recognizes the shape of the hook, determines the clamping position according to the shape of the hook, drives the robot to clamp the hook, and enables the cross-connected end of the hook cross-connected tag to face outwards; tag identification cross-connect module: the camera recognizes the position of the tag and recognizes the through hole of the tag, and drives the robot to penetrate the tag into the hook by penetrating the end of the hook outwards through the through hole of the tag; the steel wire identification hanging and releasing module comprises: the camera recognizes the steel wire at the inner side of the coil, and drives the robot to penetrate the hook through the steel wire. The invention realizes the automation of the identification cross-connection of the hook and the tag and the identification cross-connection of the hook and the steel wire, and greatly improves the efficiency of hanging the tag on the wire of the wire.
Description
Technical Field
The invention relates to the technical field of wire rod production, in particular to a cross-connection system of a hook and a tag.
Background
The wire is one of the hot rolled steel with the smallest cross section, and is generally stored in a bundle, the wire is coiled and stacked into a roll, and then the wire is bundled and fixed through the wire, and the label plate is needed to be hung on the bundled wire due to different production materials and purposes of the wire. At present, the label is hung and put generally manually, namely, a worker manually hangs and put the label on a steel wire, in order to conveniently distinguish different wires, the label is generally hung as soon as possible after the wires are bound and fixed, but the temperature of the wires is still higher at this time, the worker needs to bear higher temperature beside the wires, and the worker needs to hang and put the label at the position of the steel wire where the hand stretches into the wire, so that the risk of scalding exists. At present, a system for automatically hanging and placing a tag is lacking, if the operation of hanging and placing the tag is automated, the problem that the tag is difficult to identify and hang and place exists, because the wire needs to be wound for a plurality of times when the wire is used for binding the wire, a camera needs to identify places which can be hung and placed, when the tag is manually hung and placed, a worker generally uses a rope to tightly bind the tag and the wire, and when the tag is automatically hung and placed, a hook which is matched and applicable is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a hook and tag cross-connection system, which realizes the automation of hook and tag recognition cross-connection and hook and wire recognition cross-connection and greatly improves the efficiency of tag hanging and placing wire steel wires.
The technical aim of the invention is realized by the following technical scheme:
the hook and tag cross-connection system is applied to a robot with a camera and comprises a motion module, a hook identification clamping module, a tag identification cross-connection module and a steel wire identification hanging module;
the motion module: for controlling the movement of the robot in space;
the hook identification clamping module comprises: the camera recognizes the shape of the hook, determines the clamping position according to the shape of the hook, drives the robot to clamp the hook, and enables the cross-connected end of the hook cross-connected tag to face outwards;
the tag identification cross-connect module: the camera recognizes the position of the tag and recognizes the through hole of the tag, and drives the robot to penetrate the tag into the hook by penetrating the end of the hook outwards through the through hole of the tag;
the steel wire identification hanging module comprises: the camera recognizes the steel wire at the inner side of the coil, and drives the robot to penetrate the hook through the steel wire.
In one embodiment, the wire identification hanging module identifies the wire according to the difference between the reflection degree of the wire and the inner side of the wire.
In one embodiment, when the camera recognizes adjacent multi-section steel wires, the steel wire recognition hanging module measures and calculates total widths of different positions of the multi-section steel wires to obtain a plurality of total width values, the plurality of total width values of the multi-section steel wires are respectively compared with the length of the hook, positions with the total width values larger than or equal to the length of the hook are eliminated, one position with the total width value smaller than the length of the hook is selected as a hanging position, and the movement module drives the robot to pass the hook through the hanging position of the multi-section steel wires.
In one embodiment, the hook is formed by bending an iron wire integrally, the head end of the iron wire is bent for 180 degrees to form a first semicircle with a larger diameter, the tail end of the iron wire is bent for 180 degrees to form a second semicircle with a smaller diameter, the tail end of the iron wire returns to the head end of the iron wire, the tail end of the iron wire protrudes out of the first semicircle to form a penetrating end, and the head end of the iron wire is partially overlapped with the tail end of the iron wire, so that an inner space formed by bending the iron wire is in a closed state;
the hook recognition clamping module recognizes a first semicircle and a second semicircle of the hook through the camera, tests and compares the diameters of the first semicircle and the second semicircle, selects the second semicircle of the hook as a clamping point, and drives the robot to clamp the second semicircle of the hook so that the cross-connection end faces obliquely downwards.
In one embodiment, the shape of tag is the rectangle, be provided with the through-hole that the couple of being convenient for passed in the tag, because the luminousness of through-hole is greater than other positions of tag far away, therefore tag discernment cross-under module discerns the brightest position in the tag through the camera and is the position of through-hole, the motion module orders about the robot to remove the couple directly over the tag, make the cross-under end of couple to the direction motion of through-hole simultaneously, the tag passes through the through-hole and follows the cross-under end motion of couple, and prop up in the head end and the terminal entering couple of couple, then the head end and the terminal restriction tag that resets of couple deviate from in the couple.
In one embodiment, after the hanging position of the hook on the steel wire is identified by the steel wire identification hanging module, the movement module controls the robot to rotate the hook, so that the cross-connection end of the hook faces upwards, the cross-connection end of the hook is driven to move towards the direction of the iron wire, the iron wire moves along the cross-connection end of the hook, the head end and the tail end of the hook are opened to enter the hook, and then the head end and the tail end of the hook are reset to limit the steel wire to be separated from the hook.
In one embodiment, the hook and tag cross-connect system further comprises a hook forming module, the hook forming module comprises an iron wire conveying part, a top cutter mechanism and a cutter mechanism, the top cutter mechanism and the cutter mechanism are arranged at the base plate, the top cutter mechanism comprises a top cutter module and a top cutter motor for driving the top cutter module to lift, the top cutter of the top cutter module is located below the outlet of the iron wire conveying part, the cutter mechanism comprises a cutter module and a cutter motor for driving the cutter module to lift, and a cutter of the cutter module is located above the outlet of the iron wire conveying part and is located right above the top cutter.
In one embodiment, the top surface of the top knife is provided with a profiled groove adapted to the wire. The iron wire moves along the forming groove, so that the iron wire is prevented from shifting when the iron wire is completely moved.
In one embodiment, the hook and tag cross-connect system further comprises a tag printing module, the tag printing module comprises a tag base, the top surface of the tag base is provided with a tag sliding groove, two sides of the bottom end of the tag sliding groove are provided with tag stop blocks, a cross-connect groove position which is convenient for the hook to pass through is arranged in the middle of the bottom end of the tag sliding groove, and a detection sensor is arranged above the tag sliding groove.
In one embodiment, limit rollers are arranged on two sides of the label sliding groove. The limiting roller is used for preventing the two sides of the label from bending, so that the label is close to the label chute.
In summary, the invention has the following beneficial effects:
according to the invention, the positions of the tag and the hook are identified through the camera, the robot controls the hook to be connected with the signboard in a penetrating way, the connecting positions of the hook and the steel wire for bundling wires are identified through the camera, the robot moves the hook with the tag to the steel wire on the inner side of the wires, so that the automatic hanging of the tag is realized, the manual operation is completely replaced, the safety of personnel is ensured, and meanwhile, the efficiency and the success rate of the hanging of the tag are also improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic view of a label printing module of the present invention;
FIG. 3 is a schematic view of a hook forming module of the present invention;
fig. 4 is a schematic view of a hanger of the present invention.
In the figure: the automatic label feeding device comprises a 1-label base, a 2-label stop block, a 3-label chute, a 4-cross-connection slot position, a 5-detection sensor, a 6-limit roller, a 7-hook, an 8-iron wire conveying part, a 9-top cutter module, a 10-top cutter motor, a 11-cutter module and a 12-cutter motor.
Description of the embodiments
The present invention will be described in detail below with reference to the accompanying drawings and examples.
It should be noted that the terms "upper", "lower", and the like referred to herein are all used for convenience of description only and should not be construed as limiting the technical solution.
The wire is one of the hot rolled steel sections with the smallest section size, the wire is generally stored in a bundle, the wire is coiled and stacked into a roll shape, then the wire is bundled and fixed through the wire, and because the production materials and the purposes of the wire are different, a tag needs to be hung on the bundled wire, and because the wire needs to be wound for a plurality of times when the wire is bundled by the wire, a camera needs to identify places which can be hung.
As shown in fig. 1-4, the invention provides a hook and tag cross-connect system for solving the existing problems, which is applied to a robot with a camera and comprises a motion module, a hook identification clamping module, a tag identification cross-connect module and a steel wire identification hanging module;
the motion module: for controlling the movement of the robot in space;
the hook identification clamping module comprises: the camera recognizes the shape of the hook 7, determines the clamping position according to the shape of the hook 7, and drives the robot to clamp the hook 7, so that the cross-connection end of the hook 7, which is in cross-connection with the tag, faces outwards;
the tag identification cross-connect module: the camera recognizes the position of the tag and recognizes the through hole of the tag, and the robot is driven to drive the outward penetrating end of the hook 7 to penetrate through the through hole of the tag, so that the tag is penetrated into the hook 7;
the steel wire identification hanging module comprises: the steel wire is identified according to the difference of the reflection degree of the steel wire and the wire inside to the light, particularly, the light reflected by the steel wire is stronger than the light reflected by the wire inside, the camera can identify the position of the steel wire to be brighter, and when the camera identifies the steel wire inside the coil, the robot is driven to drive the hook 7 to pass through the steel wire; it can be understood that, in order to bind wires, the wires need to be wound back and forth for many times, when the cameras recognize adjacent multi-section wires, the wire recognition hanging module calculates the total width of different positions of the multi-section wires to obtain a plurality of total width values, the total width values of the multi-section wires are respectively compared with the length of the hook 7, the position where the total width value is greater than or equal to the length of the hook 7 is eliminated, one position where the total width value is less than the length of the hook 7 is selected as the hanging position, and the movement module drives the robot to pass the hook 7 through the hanging position of the multi-section wires.
The hook 7 is formed by bending an iron wire integrally, the head end of the iron wire is bent for 180 degrees to form a first semicircle with a larger diameter, the tail end of the iron wire is bent for 180 degrees to form a second semicircle with a smaller diameter, the tail end of the iron wire returns to the head end of the iron wire, the tail end of the iron wire protrudes out of the part of the first semicircle to form a cross-connection end, and the head end of the iron wire is partially overlapped with the tail end of the iron wire, so that an inner space formed by bending the iron wire is in a closed state;
the hook recognition clamping module recognizes a first semicircle and a second semicircle of the hook 7 through the camera, tests and compares the diameters of the first semicircle and the second semicircle, selects the second semicircle of the hook 7 as a clamping point, and drives the robot to clamp the second semicircle of the hook 7 so that the cross-connection end faces obliquely downwards.
Further, the hook and label cross-connection system further comprises a hook forming module, the hook forming module comprises an iron wire conveying part 8, a top cutter mechanism and a cutter mechanism, the top cutter mechanism and the cutter mechanism are arranged at the base plate, the top cutter mechanism comprises a top cutter module 9 and a top cutter motor 10 for driving the top cutter module 9 to lift, the top cutter of the top cutter module 9 is positioned below an outlet of the iron wire conveying part 8, the cutter mechanism comprises a cutter module 11 and a cutter motor 12 for driving the cutter module 11 to lift, a cutter of the cutter module 11 is positioned above the outlet of the iron wire conveying part 8, and the cutter is positioned right above the top cutter; the top surface of top sword is provided with the shaping recess with the iron wire adaptation. The iron wire moves along the forming groove, so that the iron wire is prevented from shifting when the iron wire is completely moved.
The cutter plays the effect of cutting off the iron wire, and the cutter cooperates with the top sword and realizes the bending of iron wire jointly. The cutter is located the top of the export of iron wire conveying part 8, when the iron wire output, jack-up when the top sword, the outside of iron wire is restricted by the top sword and upwards bends, simultaneously because the cutter is in the export top of iron wire conveying part 8, consequently the cutter also has the restriction effect to the iron wire inboard, prevents that the iron wire from directly inwards bending, after the couple shaping, cutter downward movement cuts off the iron wire, then cutter upward movement resets, waits for the next time to cut off the iron wire.
Specifically, the working process of the hook forming module is as follows: the iron wire conveying part 8 continuously outputs the iron wire, the top cutter is lifted, the iron wire is firstly bent for 180 degrees under the action of the top cutter and the cutter, the iron wire forms a first semicircle with larger diameter, then the top cutter is lifted down, the iron wire is straightly output, then the top cutter is lifted again, the iron wire is bent for 180 degrees again under the action of the top cutter and the cutter, the iron wire forms a second semicircle with smaller diameter, two semicircles with different diameters are respectively arranged at two ends of the hook 7, meanwhile, one end of the semicircle with larger diameter moves along the inclined surface at the left side of the upper fixing part of the iron wire conveying part 8, then the top cutter is lifted down, the iron wire is continuously output, the bent iron wire is staggered with the straightness iron wire, the cutter is lifted down until one end of the semicircle with larger diameter is positioned behind the cutter, the iron wire is cut off, the second semicircle part of the hook 7 is outwards formed, and the robot is convenient to clamp.
Further, the hook and tag cross-connect system further comprises a tag printing module, the tag printing module comprises a tag base 1, a tag chute 3 is arranged on the top surface of the tag base 1, tag stop blocks 2 are arranged on two sides of the bottom end of the tag chute 3, a cross-connect slot 4 which is convenient for a hook 7 to pass through is arranged in the middle of the bottom end of the tag chute 3, and a detection sensor 5 is arranged above the tag chute 3; limiting rollers 6 are arranged on two sides of the label sliding groove 3. The limiting roller 6 is used for preventing the two sides of the label from bending, so that the label is close to the label chute 3.
The printing equipment prints the label earlier, and the label landing is detected by detecting sensor 5 in the label spout 3, and after the label tablet was slided and is blocked by two label dog 2, the cross-under trench 4 of label spout 3 has been covered to the label tablet this moment, in the position of cross-under trench 4, and light can pass cross-under trench 4 and through-hole, consequently can discern the position of through-hole in camera department.
The shape of tag is the rectangle, be provided with the through-hole that is convenient for couple 7 pass in the tag, because the luminousness of through-hole is greater than other positions of tag far away, therefore tag discernment cross-under module discerns the brightest position in the tag through the camera and is the position of through-hole, the motion module orders about the robot to remove couple 7 to the tag directly over, make the cross-under end of couple 7 to the direction motion of through-hole simultaneously, the tag passes through the through-hole and follows the cross-under end motion of couple 7, and prop up in couple 7's head end and the terminal entering couple 7, then couple 7's head end and terminal restriction tag that resets deviate from in the couple 7.
Further, after the hanging position of the hook 7 on the steel wire is identified by the steel wire identification hanging module, the movement module controls the robot to rotate the hook 7, so that the cross-connection end of the hook 7 faces upwards, the cross-connection end of the hook 7 is driven to move towards the direction of the iron wire, the iron wire moves along the cross-connection end of the hook 7, the head end and the tail end of the hook 7 are unfolded to enter the hook 7, and then the head end and the tail end of the hook 7 are reset to limit the steel wire to be separated from the hook 7.
The working process of the invention is as follows:
the hook forming module automatically produces a hook 7, a second semicircle part of the hook 7 faces outwards, the moving module drives the robot to move to the hook 7, the first semicircle and the second semicircle of the hook 7 are identified through the camera, the diameters of the first semicircle and the second semicircle are tested and compared, the second semicircle of the hook 7 is selected as a clamping point, and the moving module drives the robot to clamp the second semicircle position of the hook 7, so that the cross-connection end faces obliquely downwards;
then the movement module drives the robot to move to the label printing module, printing of the label is completed at the moment, the through hole part of the label is positioned at the cross-connection groove position 4, the brightest position in the label is identified as the position of the through hole by the label identification cross-connection module through the camera, the movement module drives the robot to move the hook 7 to the position right above the label, meanwhile, the cross-connection end of the hook 7 moves towards the direction of the through hole, the label moves along the cross-connection end of the hook 7 through the through hole, the head end and the tail end of the hook 7 are propped up to enter the hook 7, and then the head end and the tail end of the hook 7 are reset to limit the label to be taken off from the hook 7;
the movement module drives the robot to move the hook 7 and the tag to the inner side of the wire, and when the camera identifies the hanging position of the steel wire, the movement module drives the robot to pass the hook 7 through the hanging position of the steel wire.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. The hook and tag cross-connection system is characterized by being applied to a robot with a camera and comprising a motion module, a hook identification clamping module, a tag identification cross-connection module and a steel wire identification hanging module;
the motion module: for controlling the movement of the robot in space;
the hook identification clamping module comprises: the camera recognizes the shape of the hook (7), the position which can be clamped is determined according to the shape of the hook (7), and the robot is driven to clamp the hook (7), so that the cross-connection end of the hook (7) which is in cross-connection with the tag faces outwards;
the tag identification cross-connect module: the camera identifies the position of the tag and the through hole of the tag, and drives the robot to drive the outward penetrating end of the hook (7) to penetrate through the through hole of the tag, so that the tag is penetrated into the hook (7);
the steel wire identification hanging module comprises: the camera recognizes the steel wire at the inner side of the coil, and drives the robot to penetrate the hook (7) through the steel wire;
the steel wire identification hanging module identifies the steel wire according to the difference of the reflection degree of the steel wire and the inner side of the wire rod on the light;
when the cameras identify adjacent multi-section steel wires, the steel wire identification hanging module measures and calculates the total widths of the multi-section steel wires at different positions to obtain a plurality of total width values, the plurality of total width values of the multi-section steel wires are respectively compared with the length of the hook (7), the position where the total width value is larger than or equal to the length of the hook (7) is eliminated, one position where the total width value is smaller than the length of the hook (7) is selected as a hanging position, and the movement module drives the robot to pass the hook (7) through the hanging position of the multi-section steel wires;
the hook (7) is formed by bending an iron wire into a whole, the head end of the iron wire is bent for 180 degrees to form a first semicircle with a larger diameter, the tail end of the iron wire is bent for 180 degrees to form a second semicircle with a smaller diameter, the tail end of the iron wire returns to the head end of the iron wire, the tail end of the iron wire protrudes out of the part of the first semicircle to form a cross-connection end, and the head end of the iron wire and the tail end of the iron wire are partially overlapped, so that an inner space formed by bending the iron wire is in a closed state;
the hook recognition clamping module is used for recognizing a first semicircle and a second semicircle of the hook (7) through the camera, testing and comparing the diameters of the first semicircle and the second semicircle, selecting the second semicircle of the hook (7) as a clamping point, and the movement module is used for driving the robot to clamp the second semicircle of the hook (7) so that the cross-connection end faces obliquely downwards.
2. The hook and tag cross-connect system of claim 1, wherein the tag is rectangular in shape, a through hole through which the hook (7) passes is formed in the tag, and since the light transmittance of the through hole is far greater than that of other positions of the tag, the tag recognition cross-connect module recognizes the brightest position in the tag as the position of the through hole through the camera, and the movement module drives the robot to move the hook (7) to a position right above the tag, and simultaneously enables the cross-connect end of the hook (7) to move in the direction of the through hole, the tag moves along the cross-connect end of the hook (7) through the through hole, and the head end and the tail end of the hook (7) are propped open to enter the hook (7), and then the head end and the tail end of the hook (7) are reset to limit the tag to be separated from the hook (7).
3. The system of cross-connect of hooks and tags according to claim 1, wherein after the wire recognition hanging module recognizes the hanging position of the hooks (7) on the wire, the movement module controls the robot to rotate the hooks (7) to enable the cross-connect ends of the hooks (7) to face upwards, so as to drive the cross-connect ends of the hooks (7) to move towards the iron wires, the iron wires move along the cross-connect ends of the hooks (7), and the head ends and the tail ends of the hooks (7) are propped up to enter the hooks (7), and then the head ends and the tail ends of the hooks (7) are reset to limit the wire to be separated from the hooks (7).
4. The hook and tag cross-connect system of claim 1, further comprising a hook forming module, wherein the hook forming module comprises an iron wire conveying part (8) and a top cutter mechanism and a cutter mechanism which are arranged at the base plate, the top cutter mechanism comprises a top cutter module (9) and a top cutter motor (10) for driving the top cutter module (9) to lift, the top cutter of the top cutter module (9) is positioned below an outlet of the iron wire conveying part (8), the cutter mechanism comprises a cutter module (11) and a cutter motor (12) for driving the cutter module (11) to lift, and a cutter of the cutter module (11) is positioned above the outlet of the iron wire conveying part (8) and is positioned right above the top cutter.
5. The hook and tag cross-over system of claim 4, wherein a top surface of the top knife is provided with a profiled groove adapted to an iron wire.
6. The hook and tag cross-connect system of claim 1, further comprising a tag printing module, the tag printing module comprising a tag base (1), a tag chute (3) is provided on the top surface of the tag base (1), tag stoppers (2) are provided on two sides of the bottom end of the tag chute (3), a cross-connect slot (4) for facilitating the hook (7) to pass is provided in the middle of the bottom end of the tag chute (3), and a detection sensor (5) is provided above the tag chute (3).
7. The hook and tag cross-over system according to claim 6, wherein limit rollers (6) are arranged on both sides of the tag chute (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198507.9A CN113910210B (en) | 2021-10-14 | 2021-10-14 | Hook and tag cross-connection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198507.9A CN113910210B (en) | 2021-10-14 | 2021-10-14 | Hook and tag cross-connection system |
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| CN113910210A CN113910210A (en) | 2022-01-11 |
| CN113910210B true CN113910210B (en) | 2023-06-23 |
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| CN115072118B (en) * | 2022-08-03 | 2024-01-26 | 江苏精益智控科技有限公司 | Automatic steel pipe listing system and method |
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| CN102490954A (en) * | 2011-12-14 | 2012-06-13 | 上海联物信息科技有限公司 | Automatic tag hanging mechanism and service method thereof |
| US20150290812A1 (en) * | 2014-04-09 | 2015-10-15 | BM GROUP HOLDING S.p.A. | Robotized island and relative method for the automatic labelling of beams of round steel, of billets exiting continuous casting and of wire rods exiting the evacuation line |
| US10589949B2 (en) * | 2016-09-15 | 2020-03-17 | Dishcraft Robotics, Inc. | Robotic manipulation using reusable, independent tags |
| CN211414124U (en) * | 2019-12-27 | 2020-09-04 | 中冶南方工程技术有限公司 | Automatic hot-rolled label welding and hanging system based on stereoscopic vision |
| CN111001959A (en) * | 2019-12-27 | 2020-04-14 | 中冶南方工程技术有限公司 | Hot-rolled label welding hanging method and system |
| CN112404297A (en) * | 2020-11-13 | 2021-02-26 | 达涅利同创信息科技(北京)有限公司 | Sign plate hook manufacturing device and method |
| CN112693714A (en) * | 2020-12-25 | 2021-04-23 | 江苏沙钢集团有限公司 | Automatic label system of hanging of wire rod |
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