阅读说明：本技术 钢卷贴标方法以及系统 (Steel coil labeling method and system ) 是由 张凡 刘昌友 谢华龙 于 2020-07-03 设计创作，主要内容包括：本发明涉及一种钢卷贴标方法,包括：S1,选定贴标工作区,并在贴标工作区固定贴标机器人；S2,在贴标工作区外布设钢卷运输的通道,贴标机器人的贴标工位与通道的其中一段路径重合；S3,采用贴标机器人的机械手取标签,控制机械手移动至贴标工位,并控制机械手下压将标签贴在处于该段路径处的钢卷上。还提供一种钢卷贴标系统,包括贴标机器人、贴标工作区以及供钢卷运输的通道,贴标机器人固定在贴标工作区中,通道设于贴标工作区外,且通道具有与贴标机器人的贴标工位重合的一段路径。本发明利用贴标机器人进行贴标工作,在钢卷通过通道运送至贴标工位后,由机械手取标签下压将标签贴在钢卷上,实现自动化贴标,替代了人工贴标,提高了工作效率。(The invention relates to a steel coil labeling method, which comprises the following steps: s1, selecting a labeling working area, and fixing a labeling robot in the labeling working area; s2, arranging a steel coil transportation channel outside the labeling work area, and enabling a labeling station of a labeling robot to coincide with one section of the channel; and S3, taking the label by using the manipulator of the labeling robot, controlling the manipulator to move to a labeling station, and controlling the manipulator to press down to label the label on the steel coil positioned on the section of path. Still provide a coil of strip subsides mark system, including the passageway of labeling robot, subsides mark workspace and confession coil of strip transportation, the labeling robot is fixed in the subsides mark workspace, and the passageway is located outside the subsides mark workspace, and the passageway has one section route with the subsides mark station coincidence of labeling robot. The invention utilizes the labeling robot to perform labeling work, and the manipulator takes the label and presses down to label the steel coil after the steel coil is conveyed to the labeling station through the channel, thereby realizing automatic labeling, replacing manual labeling and improving the working efficiency.)

1. A steel coil labeling method is characterized by comprising the following steps:

s1, selecting a labeling working area, and fixing a labeling robot in the labeling working area;

s2, arranging a steel coil transportation channel outside the labeling work area, wherein the labeling station of the labeling robot is overlapped with one section of the channel;

And S3, taking the label by using the manipulator of the labeling robot, controlling the manipulator to move to a labeling station, and controlling the manipulator to press down to label the label on the steel coil on the section of path.

2. The steel coil labeling method according to claim 1, characterized in that: after the pasting operation in step S3 is finished,

and S4, checking whether the label sticking on the steel coil is correct, if so, resetting the labeling robot and repeating the step S3, and if not, alarming and carrying out manual intervention processing.

3. The steel coil labeling method according to claim 1, characterized in that: before the manipulator of the labeling robot labels, the controller of the labeling robot judges whether a labeling signal exists or not, if not, labeling is not carried out, and if so, labeling is carried out.

4. The steel coil labeling method according to claim 3, characterized in that: the labeling robot controller is adopted for steel coil entering detection, steel coil position detection, probe detection and material taking mechanism detection of the manipulator.

5. The steel coil labeling method according to claim 4, characterized in that: when the position of the steel coil is detected, the steel curling edge and the diameter are also detected so as to judge the proper labeling position.

6. The steel coil labeling method according to claim 1, characterized in that: before a manipulator of the labeling robot takes a label, a labeling mechanism is adopted to call steel coil parameters on line and print the label according to a fixed format, and then the manipulator takes the label again to carry out a labeling action.

7. The steel coil labeling method according to claim 1, characterized in that: and managing the printing of the label by adopting a label management machine.

8. The steel coil labeling method according to claim 1, characterized in that: and arranging a safety grating and a safety fence outside the labeling work area.

9. The steel coil labeling method according to claim 1, characterized in that: and adopting a bundling machine upright post to bundle the steel coil at the entrance of the channel.

10. The utility model provides a steel coil labeling system, includes labeling robot, its characterized in that: still including pasting the passageway of mark workspace and confession coil of strip transportation, the mark robot is fixed in pasting the mark workspace, the passageway is located outside the mark workspace, just the passageway have with a section route of mark station coincidence of mark robot.

Technical Field

The invention relates to the technical field of steel coil labeling, in particular to a steel coil labeling method and a steel coil labeling system.

Background

In the past, a large amount of manual operation is needed for traditional labeling, parameters of a steel coil are filled, the error rate is high, the efficiency is low, and labeling positions are random and not standard.

Disclosure of Invention

The invention aims to provide a steel coil labeling method and a steel coil labeling system, which can at least solve part of defects in the prior art.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: a steel coil labeling method comprises the following steps:

s1, selecting a labeling working area, and fixing a labeling robot in the labeling working area;

s2, arranging a steel coil transportation channel outside the labeling work area, wherein the labeling station of the labeling robot is overlapped with one section of the channel;

and S3, taking the label by using the manipulator of the labeling robot, controlling the manipulator to move to a labeling station, and controlling the manipulator to press down to label the label on the steel coil on the section of path.

Further, after the pasting operation in the step S3 is finished,

and S4, checking whether the label sticking on the steel coil is correct, if so, resetting the labeling robot and repeating the step S3, and if not, alarming and carrying out manual intervention processing.

Further, before the manipulator of the labeling robot labels, the controller of the labeling robot judges whether a labeling signal exists or not, if not, labeling is not carried out, and if yes, labeling is carried out.

Further, the labeling robot controller is adopted for steel coil entering detection, steel coil position detection, probe detection and material taking mechanism detection of the manipulator.

Further, when the position of the steel coil is detected, the steel curling edge and the diameter are also detected so as to judge the proper labeling position.

Furthermore, before a manipulator of the labeling robot takes the labels, the steel coil parameters are called online by a labeling mechanism, the labels are printed according to a fixed format, and then the manipulator takes the labels again to carry out a labeling action.

Further, printing of the label is managed using a label manager.

Furthermore, a safety grating and a safety fence are arranged outside the labeling work area.

And further, bundling the steel coil at the inlet of the channel by adopting a bundling machine upright post.

The embodiment of the invention provides another technical scheme: the utility model provides a coil of strip pastes mark system, includes the mark robot that pastes, still includes the passageway that pastes mark workspace and supply the coil of strip transportation, the mark robot that pastes fixes paste in the mark workspace, the passageway is located paste outside the mark workspace, just the passageway have with paste a section route of mark station coincidence of mark robot.

Compared with the prior art, the invention has the beneficial effects that: utilize the labeling robot to paste the mark work, after the coil of strip transported to subsides mark station through the passageway, get the label by the manipulator and push down and paste the label on the coil of strip to realize automatic subsides mark, replaced artifical the mark that pastes, improved work efficiency.

Drawings

Fig. 1 is a control block diagram of a steel coil labeling method according to an embodiment of the present invention;

fig. 2 is a logic block diagram of a steel coil labeling method according to an embodiment of the present invention.

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 a steel coil labeling method, S1, selecting a labeling working area, and fixing a labeling robot in the labeling working area; s2, arranging a steel coil transportation channel outside the labeling work area, wherein the labeling station of the labeling robot is overlapped with one section of the channel; and S3, taking the label by using the manipulator of the labeling robot, controlling the manipulator to move to a labeling station, and controlling the manipulator to press down to label the label on the steel coil on the section of path. In this embodiment, a labeling work area is selected in a factory building, and the labeling work area is used as a place special for labeling, so that people who are idle can be prevented from entering the labeling work area, and safety can be ensured. And then fixing the labeling robot in the labeling working area, specifically, after planning the motion trail of the manipulator of the labeling robot, selecting a fixed position, and fixing the base of the labeling robot. Then lay the passageway outside the subsides mark work area, the coil of strip can transport on this passageway, and the subsides mark station of subsides mark robot coincides with one of them section route of this passageway, so when the coil of strip transports this route department, can carry out the subsides mark work, this is the important link of accomplishing automatic subsides mark. The manipulator of labeling robot rotates around the frame, and the label all establishes on its rotation orbit with pasting the mark station to the operation is puted up to pasting the mark station to the manipulator of labeling robot gets the label, has got after the label rotates again, and whole process need not have other unnecessary actions, has simplified and has got the label to the process of labelling, and then realizes that automatic subsides are pasted the mark, has replaced the manual work and has pasted the mark, has improved work efficiency. Preferably, the labeling robot is provided with a force control device, so that the labeling robot can adapt to the tiny size change of the same type of steel coils. In addition, the labeling is carried out in an adsorption mode, namely, the labeling is taken in a vacuum label adsorption mode and then is carried out in a pressing mode. The whole labeling process adopts a network to carry out signal communication, and is more efficient.

Referring to fig. 1 and 2 as an optimization scheme of the embodiment of the present invention, after the pasting operation in the step S3 is finished, S4 verifies whether the label pasting on the steel coil is correct, if so, the labeling robot resets and repeats the step S3, and if not, an alarm is given and a manual intervention is performed. In this embodiment, after pasting the mark, can carry out the check-up link, judge whether the label subsides are correct mainly, if correct then the labeling robot resets and repeatedly gets the label to the process of labelling, if wrong then reports to the police, tells the staff and looks over, can in time find out where to have the problem and carry out corresponding processing. The check-up can be through establishing the 3D visual identification system on the labeling robot and check-up, then feeds back the information that obtains to L1 controller, then passes through the network by L1 controller and conveys to the host computer, and the host computer sends and reminds, and the staff can learn the condition.

As an optimization scheme of the embodiment of the present invention, please refer to fig. 1 and 2, before labeling by the manipulator of the labeling robot, the controller of the labeling robot determines whether there is a labeling signal, if not, no labeling is performed, and if so, labeling is performed. In this embodiment, there is a logic selection before labelling, and labeling robot's subsides mark action is controlled by labeling robot controller, this labeling robot controller and L1 controller intercommunication, it can acquire the mark instruction, this mark instruction is the linkage with label printing, after printing the completion with the label according to the information of current coil of strip promptly, just can give labeling robot controller and send the mark instruction, this labeling robot controller just can control labeling robot after receiving the instruction and get the label and label.

As an optimized scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, the labeling robot controller is adopted to perform steel coil entry detection, steel coil position detection, probe detection, and material taking mechanism detection of a manipulator. In this embodiment, this labeling robot controller still carries out coil of strip entering detection, coil of strip position detection, probe detection and the detection such as the feeding agencies detection of manipulator except acquiring the subsides mark signal and controlling labeling robot action. Specifically, the picking mechanism detects that the sucker solenoid valve detects. Preferably, when the steel coil position is detected, the steel curling edge and the diameter are also detected to judge the proper labeling position, and the action can be performed by matching with a 3D vision system.

As an optimized scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, before the manipulator of the labeling robot picks up the label, the label is printed out by using the parameters of the steel coil on line called by the label mechanism according to a fixed format, and then the manipulator picks up the label and performs the labeling action. In this embodiment, the label is printed out by the label mechanism on line calling the parameters of the steel coil and according to a fixed format, the label is printed by thermal transfer printing/thermal sensing, and the form of the label can be a one-dimensional code or a two-dimensional code. In addition, a label management machine is adopted to manage the printing of the labels, a label mechanism is linked with the label management machine, and the label management machine assists the label mechanism to print the labels.

As an optimized scheme of the embodiment of the invention, a safety grating and a safety fence are arranged outside the labeling work area. In this embodiment, in order to ensure safety, a safety grating and a safety fence may be provided to form an isolation region.

As an optimized scheme of the embodiment of the invention, the steel coil is bundled by adopting the bundling machine upright post at the inlet of the channel. In this embodiment, need adopt the bundling machine stand to tie up the coil of strip when the coil of strip gets into the passageway to its transportation in the passageway is convenient for, in order to realize automatic labeling work.

The embodiment of the invention provides a system, which comprises a labeling robot and is characterized in that: still including pasting the passageway of mark workspace and confession coil of strip transportation, the mark robot is fixed in pasting the mark workspace, the passageway is located outside the mark workspace, just the passageway have with a section route of mark station coincidence of mark robot. In this embodiment, a labeling work area is selected in a factory building, and the labeling work area is used as a place special for labeling, so that people who are idle can be prevented from entering the labeling work area, and safety can be ensured. And then fixing the labeling robot in the labeling working area, specifically, after planning the motion trail of the manipulator of the labeling robot, selecting a fixed position, and fixing the base of the labeling robot. Then lay the passageway outside the subsides mark work area, the coil of strip can transport on this passageway, and the subsides mark station of subsides mark robot coincides with one of them section route of this passageway, so when the coil of strip transports this route department, can carry out the subsides mark work, this is the important link of accomplishing automatic subsides mark. The manipulator of labeling robot rotates around the frame, and the label all establishes on its rotation orbit with pasting the mark station to the operation is puted up to pasting the mark station to the manipulator of labeling robot gets the label, has got after the label rotates again, and whole process need not have other unnecessary actions, has simplified and has got the label to the process of labelling, and then realizes that automatic subsides are pasted the mark, has replaced the manual work and has pasted the mark, has improved work efficiency. Preferably, the labeling robot is provided with a force control device, so that the labeling robot can adapt to the tiny size change of the same type of steel coils. In addition, the labeling is carried out in an adsorption mode, namely, the labeling is taken in a vacuum label adsorption mode and then is carried out in a pressing mode. The whole labeling process adopts a network to carry out signal communication, and is more efficient.

In the arrangement of the system, the labeling working area is frame-shaped, the L1 controller, the labeling robot and the bundling machine stand column are all located in the labeling working area, the channel is located outside the labeling working area and is arranged close to the labeling working area, the manipulator is ensured to be just above the channel after rotating to the labeling working area so as to facilitate labeling, the arrangement can ensure that the rotating angle of the manipulator is not more than 90 degrees, the process of label taking to labeling is greatly simplified, and the working efficiency is improved.

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.