System for simulating automatic labeling of steel coils on production site

Abstract

A system for simulating automatic labeling of steel coils on a production site comprises a PLC industrial personal computer used for collecting information of the steel coils, issuing the information of the steel coils needing to be labeled to a label printing and stripping device, sending a label taking instruction to an industrial six-axis robot and sending a labeling instruction to a labeling head after receiving a movement completion signal; the label printing and stripping device is used for printing a label containing the steel coil information based on the steel coil information, stripping the corresponding label after printing is completed, and feeding back a label printing and stripping completion signal to the PLC industrial personal computer; the industrial six-axis robot is used for controlling the labeling head to move to the label taking position of the label printing and stripping device after receiving the label taking instruction, sucking the label stripped by the label printing and stripping device through a vacuum chuck on the labeling head, controlling the labeling head to move to the steel coil after taking the label, and feeding back a movement completion signal to the PLC industrial personal computer; and the labeling head is used for carrying out labeling operation after receiving the labeling instruction, and labeling the labels on the corresponding steel coils.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil labeling, and particularly to a system for automatically labeling steel coils in a simulated production site. Background Art

[0002] When steel coils are transported within the factory and shipped out as finished products, labels are needed to record various parameters of the steel coils and paste them on the steel coils. This label is equivalent to the ID card of the steel coil and serves as an identifier for material tracking and production traceability. In the past, traditional labeling required a large amount of manual operation to fill in the parameters of the steel coils. The labeling positions were random and non-standard, prone to errors and taking a lot of time of on-site operators. At the same time, this operation has a certain safety risk. Therefore, it is necessary to develop a corresponding automated equipment to achieve the automation of steel coil labeling. Summary of the Invention

[0003] In view of the technical defects and drawbacks existing in the prior art, the embodiments of the present invention provide a system for automatically labeling steel coils in a simulated production site to overcome or at least partially solve the above problems. The specific solutions are as follows:

[0004] A system for automatically labeling steel coils in a simulated production site, the system includes: a label printing and peeling device, an industrial six-axis robot, a labeling head, and a PLC industrial control computer. The label printing and peeling device, the labeling head, and the industrial six-axis robot are all connected to the PLC industrial control computer, and the labeling head is installed on the robotic arm of the industrial six-axis robot;

[0005] The PLC industrial control computer is used to collect steel coil information, send the steel coil information to be labeled to the label printing and peeling device, send a label taking instruction to the industrial six-axis robot, and send a labeling instruction to the labeling head after receiving the movement completion signal;

[0006] The label printing and peeling device is used to print a label containing steel coil information based on the steel coil information, peel the corresponding label after printing is completed, and feedback a label printing and peeling completion signal to the PLC industrial control computer;

[0007] The industrial six-axis robot is used to control the labeling head to move to the label taking position of the label printing and peeling device after receiving the label taking instruction, suck the label peeled by the label printing and peeling device through the vacuum chuck on the labeling head, and after taking the label, control the labeling head to move to the steel coil and feedback a movement completion signal to the PLC industrial control computer;

[0008] The labeling head is used to perform a labeling operation and paste the label on the corresponding steel coil after receiving the labeling instruction.

[0009] Furthermore, the label printing and peeling device includes a label storage device, a label printing controller, a printer and a pneumatic peeling system. The label storage device is used to store the steel coil information sent by the PLC industrial computer. The label printing controller is used to obtain the production label printing template through the steel coil information sent by the PLC industrial computer, and control the printer to print the label, and then start the pneumatic peeling system corresponding to the printer head to peel off the printed label.

[0010] Furthermore, the industrial six-axis robot includes a six-axis robot body and a robot controller. The industrial six-axis robot is connected to a PLC industrial computer through the robot controller, receives control instructions from the PLC, and controls the movement of the six-axis robot body based on the control instructions.

[0011] Furthermore, the labeling head includes a vacuum suction cup and a roller. The labeling head absorbs the label peeled by the label printing and peeling device through the vacuum suction cup, and during the labeling process, the label is pressed onto the steel coil through the roller. The PLC industrial computer pre-stores a machine head control model program. The PLC industrial computer sends a labeling instruction to the labeling head by calling the machine head control model program. The labeling head controls the vacuum suction cup to complete the separation of the label and the rolling control of the roller based on the label instruction.

[0012] Further, the labeling head also includes a laser distance sensor;

[0013] The PLC industrial computer is also used to obtain the position of the steel coil through the laser distance sensor on the labeling head, and based on the position of the steel coil, control the movement of the robot arm of the industrial six-axis robot, and drive the labeling head to the edge of the steel coil through the robot arm. The outer diameter and width of the steel coil, as well as the precise relative position between the labeling head and the steel coil are measured through the laser distance sensor. Based on the outer diameter of the steel coil, the width of the steel coil and the precise relative position, the corresponding labeling position is calculated, and based on the labeling position, the corresponding robot control program is called to control the industrial six-axis robot to move with the labeling head to the labeling position to perform the labeling operation.

[0014] Furthermore, the laser distance sensor includes a first laser distance sensor and a second laser distance sensor. The PLC industrial computer obtains the position of the steel coil through the first laser distance sensor on the labeling head, and controls the movement of the robot arm of the industrial six-axis robot based on the position of the steel coil. The robot arm drives the labeling head to move to the edge of the steel coil, and measures the outer diameter of the steel coil, the width of the steel coil, and the precise relative position between the labeling head and the steel coil through the second laser distance sensor. Based on the outer diameter of the steel coil, the width of the steel coil and the precise relative position, the corresponding labeling position is calculated.

[0015] Further, the labeling position is the bundling position. The PLC industrial computer calculates the bundling position on the steel coil based on the outer diameter and width of the steel coil, calculates the relative position between the bundling position and the labeling head based on the precise relative position between the labeling head and the steel coil, and controls the industrial six-axis robot to drive the labeling head to move to the bundling position based on the relative position between the bundling position and the labeling head, adjusts the pose of the labeling head, and performs the labeling operation.

[0016] Further, the labeling head further includes a barcode scanner. The PLC industrial computer is further configured to control the robotic arm of the industrial six-axis robot to adjust its posture after labeling is completed, so that the barcode scanner on the labeling head is aligned with the label for scanning, reads the label information containing the steel coil information, and completes the labeling process by comparing the steel coil information with the steel coil information issued by the PLC industrial computer.

[0017] Further, after successfully reading the label information, the PLC industrial computer is configured to control the robotic arm of the industrial six-axis robot to return to the initial position, output a signal indicating that automatic labeling is completed. If the label information cannot be read successfully, it automatically enters an error handling program, determines the current position of the robotic arm of the industrial six-axis robot, controls the robotic arm of the industrial six-axis robot to return to the original position and issues an alarm, waiting for manual intervention.

[0018] Further, the PLC industrial computer consists of a PLC controller and an industrial computer.

[0019] The present invention has the following beneficial effects:

[0020] A system for automatically labeling steel coils in a simulated production site provided by the present invention occupies a small volume, can provide reference experience for the development, installation, debugging and optimization of an actual steel coil automatic labeling device without affecting on-site production, reduces the actual installation and debugging time, and provides theoretical support for realizing automatic detection and judgment of the steel coil labeling status, automatic labeling and detection and verification work of the system, replacing manual labeling, and improving efficiency and accuracy. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of a system for automatically labeling steel coils in a simulated production site provided by an embodiment of the present invention;

[0022] Figure 2 It is a structural diagram of a labeling head provided by an embodiment of the present invention;

[0023] In the figure: 1. Industrial six-axis robot, 2. Labeling head, 3. Label printing and peeling device, 4. Industrial computer, 5. PLC controller, 6. Robot controller, 7. Steel coil, 21. Connecting flange, 22. First laser distance sensor, 23. Barcode scanner, 24. Connecting spring, 25. Vacuum chuck, 26. Roller, 27. Second laser distance sensor. Detailed implementation mode

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0025] Reference Figure 1 As shown, it is a schematic structural diagram of a system for automatically labeling steel coils in a simulated production site provided by an embodiment of the present invention. The system includes a label printing and peeling device 3, an industrial six-axis robot 1, a labeling head 2, and a PLC industrial control computer; the label printing and peeling device 3, the labeling head 2, and the industrial six-axis robot 1 are all connected to the PLC industrial control computer, and the labeling head 2 is installed on the robotic arm of the industrial six-axis robot 1.

[0026] The PLC industrial control computer is used to collect steel coil information, send the steel coil information to be labeled to the label printing and peeling device 3, send a label taking instruction to the industrial six-axis robot 1, and send a labeling instruction to the labeling head 2 after receiving the movement completion signal;

[0027] The label printing and peeling device 3 is used to print a label containing steel coil information based on the steel coil information, peel the corresponding label after printing is completed, and feedback a label printing and peeling completion signal to the PLC industrial control computer;

[0028] The industrial six-axis robot 1 is used to control the labeling head 2 to move to the label taking position of the label printing and peeling device 3 after receiving the label taking instruction, suck the label peeled by the label printing and peeling device 3 through the vacuum suction cup 25 on the labeling head 2, and after taking the label, control the labeling head 2 to move to the steel coil 7 and feedback a movement completion signal to the PLC industrial control computer;

[0029] Among them, the label taking position is a label taking position pre-adjusted and recorded based on the label peeling position,

[0030] The labeling head 2 is used to perform a labeling operation after receiving the labeling instruction and stick the label to the corresponding steel coil 7.

[0031] A system for automatically labeling steel coils 7 in a simulated production site provided by the present invention has a small occupied volume, can provide reference experience for the development, installation, debugging and optimization of an actual steel coil 7 automatic labeling device without affecting on-site production, reduce the actual installation and debugging time, and provide theoretical support for realizing automatic detection and judgment of the labeling status of steel coils 7, automatic labeling and detection and verification work of the system, replacing manual labeling, and improving efficiency and accuracy.

[0032] In some embodiments, the label printing and peeling device 3 includes a label storage device, a label printing controller, a printer and a pneumatic peeling system. The label storage device is used to store the steel coil information sent by the PLC industrial computer. The label printing controller is used to obtain the production label printing template through the steel coil information sent by the PLC industrial computer, and control the printer to print the label, and then start the pneumatic peeling system corresponding to the printer head to peel off the printed label.

[0033] In some embodiments, the industrial six-axis robot 1 includes a six-axis robot body and a robot controller 6. The industrial six-axis robot 1 is connected to a PLC industrial computer through the robot controller 6, receives control instructions from the PLC, and controls the movement of the six-axis robot body based on the control instructions.

[0034] refer to Figure 2 As shown, in some embodiments, the labeling head 2 includes a vacuum suction cup 25, a roller 26, a connecting flange 21 and a connecting spring 24, etc. The labeling head 2 absorbs the label peeled by the label printing and peeling device 3 through the vacuum suction cup 25, and during the labeling process, the label is rolled onto the steel coil 7 through the roller 26; wherein, a machine head control model program is pre-stored in the PLC industrial computer, and the PLC industrial computer sends a labeling instruction to the labeling head 2 by calling the machine head control model program, and the labeling head 2 controls the vacuum suction cup 25 to complete the separation of the label and the rolling control of the roller 26 based on the label instruction.

[0035] In the embodiment of the present invention, when the label printing and peeling device 3 starts to print the label, the PLC industrial computer controls the industrial six-axis robot 1 in a linkage manner, and drives the labeling head 2 to move to the label removal position through the robot arm of the industrial six-axis robot 1; when the pneumatic peeling system peels the printed label, the vacuum suction cup 25 of the labeling head 2 is controlled in a linkage manner to absorb the label.

[0036] In some embodiments, the PLC industrial computer is also used to obtain the position of the steel coil 7 through the laser distance sensor on the labeling head 2, and based on the position of the steel coil 7, control the movement of the robot arm of the industrial six-axis robot 1, and drive the labeling head 2 to move to the edge of the steel coil 7 through the robot arm. The outer diameter and width of the steel coil 7, as well as the precise relative position between the labeling head 2 and the steel coil 7 are measured through the laser distance sensor. Based on the outer diameter of the steel coil 7, the width of the steel coil 7 and the precise relative position, the corresponding labeling position is calculated, and based on the labeling position, the corresponding robot control program is called to control the industrial six-axis robot 1 to move with the labeling head 2 to the labeling position to perform the labeling operation.

[0037] Among them, the laser distance sensor includes a first laser distance sensor 22 and a second laser distance sensor 27. The PLC industrial control computer obtains the position of the steel coil 7 through the first laser distance sensor 22 on the labeling head 2. Based on the position of the steel coil 7, it controls the movement of the robotic arm of the industrial six-axis robot 1, drives the labeling head 2 to move to the edge of the steel coil 7 through the robotic arm, and measures the outer diameter of the steel coil 7, the width of the steel coil 7, and the precise relative position between the labeling head 2 and the steel coil 7 through the second laser distance sensor 27. Based on the outer diameter of the steel coil 7, the width of the steel coil 7, and the precise relative position, the corresponding labeling position is calculated.

[0038] Among them, the labeling position is the bundling position. The PLC industrial control computer calculates the bundling position on the steel coil 7 through the outer diameter and width of the steel coil 7, calculates the relative position between the bundling position and the labeling head 2 based on the precise relative position between the labeling head 2 and the steel coil 7, and controls the industrial six-axis robot 1 to drive the labeling head 2 to move to the bundling position based on the relative position between the bundling position and the labeling head 2, adjusts the pose of the labeling head 2, and performs the labeling operation.

[0039] Among them, a program for calculating the bundling position on the steel coil 7 based on the outer diameter and width of the steel coil 7 is pre-stored in the PLC industrial control computer.

[0040] In some embodiments, the labeling head 2 further includes a barcode scanner 23. The PLC industrial control computer is further configured to control the robotic arm of the industrial six-axis robot 1 to adjust its posture after the labeling is completed, so that the barcode scanner 23 on the labeling head 2 is aligned with the label for scanning, reads the label information containing the steel coil information, and completes the labeling process by comparing the steel coil information with the steel coil information issued by the PLC industrial control computer.

[0041] Among them, the PLC industrial control computer is further configured to control the robotic arm of the industrial six-axis robot 1 to return to the initial position after successfully reading the label information, output an automatic labeling completion signal. If the label information cannot be read successfully, it automatically enters the error handling program, determines the current position of the robotic arm of the industrial six-axis robot 1, controls the robotic arm of the industrial six-axis robot 1 to return to the original position and issues an alarm, waiting for manual intervention.

[0042] Among them, the PLC industrial control computer is composed of a PLC controller 5 and an industrial control computer 4.

[0043] The PLC controller of the present invention uses Siemens S7-1200 PLC for configuration and writing of control programs, completes the control with the PLC as the main line. The labeling head 2 connected to the industrial six-axis robot 1 and the PLC controller adopt hard wiring. The PLC controller and the middleware program (simulating the transmission of coil information in the actual production secondary system) communicate using the DB data block. A DB block is established in the PLC controller, and the middleware writes programs to read and write the position status. The corresponding information of the coil 7 is then sent to the label printing device to print labels. The robot controller 6, the touch screen of the robot controller 6, the label printing and peeling device 3, the barcode scanner 23, and the industrial computer communicate with the PLC controller in the PROFINET communication mode, and the automatic labeling task is realized through the orderly actions of each program block.

[0044] The specific automatic labeling process is as follows:

[0045] 1. Coil information collection: Through the control program of the PLC controller and the middleware program on the industrial computer, the coil information that needs to be sent down and labeled can be set by itself to the label printing controller (simulating the reading and writing of coil information in the secondary system after the coil 7 is placed on the saddle in the actual production process). The label printing controller temporarily stores the data information and prepares for label printing;

[0046] 2. Label printing and peeling: When the coil information collection and update are completed, start the automatic labeling process by operating on the touch screen (simulating the automatic start signal of labeling sent by communicating with the primary system in the actual production process), call the motion control program of the industrial six-axis robot 1, control the robotic arm of the industrial six-axis robot 1 to drive the labeling head 2 to move to the label-taking position recorded during debugging, and then call the printing control program to start the label printing controller to print and peel the label. When the label printing and peeling are completed, the vacuum suction cup 25 of the labeling head 2 sucks the label and prepares for labeling control;

[0047] 3. Steel coil 7 label pasting and scanning: After the label head 2 sucks the label, the position of the steel coil 7 is obtained by the first laser distance sensor 22. Based on the position of the steel coil 7, the robotic arm of the industrial six-axis robot 1 is controlled to drive the label head 2 to move to a position about 200 mm away from the surface at the 2 o'clock direction of the steel coil 7 (set according to the actual size of the simulated steel coil 7). Then it moves towards the edge of the steel coil 7. The outer diameter and width of the steel coil 7, as well as the precise relative position between the label head 2 and the steel coil 7, are detected by the second laser distance sensor 27. Based on the data detected by the second laser distance sensor 27 and the pre-written program, the precise labeling position is calculated. The robotic arm of the industrial six-axis robot 1 is controlled to drive the label head 2 to approach the steel coil 7 according to the detected and calculated precise position. The label is made to stick tightly to the steel coil 7 through the roller 2626, and the label is pasted on the surface of the simulated steel coil 7. The vacuum system controls the suction of the vacuum chuck 2525, and the robot program is used to control the roller 2626 to roll and paste the label in an arc on the surface of the steel coil 7. After the label pasting is completed, the robotic arm of the industrial six-axis robot 1 is controlled to adjust its posture to scan and verify the label through the barcode scanner 2323, and the label information is read and checked to complete the labeling process;

[0048] 4. System restoration ready: After the label is pasted on the outer surface of the steel coil 7 and the label information is successfully read, the robotic arm of the industrial six-axis robot 1 is controlled to return to the initial position, and an automatic labeling completion signal is output (used to unlock the corresponding equipment for transporting the steel coil 7 during the actual production process). The system data is statistically analyzed and initialized. If the label information cannot be read successfully, it indicates that there is a problem with the label falling off or the QR code being blurred. The robot will automatically enter the error handling program, determine the current position of the robotic arm, then return to the original position and issue an alarm, waiting for manual intervention.

[0049] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic label - sticking system for steel coils in a simulated production site, characterized in that, The system comprises: a label printing and peeling device, an industrial six-axis robot, a labeling head and a PLC industrial computer, wherein the label printing and peeling device, the labeling head and the industrial six-axis robot are all connected to the PLC industrial computer, and the labeling head is installed on the mechanical arm of the industrial six-axis robot; The PLC industrial computer is used to collect steel coil information, send the steel coil information that needs to be labeled to the label printing and peeling device, send a label taking instruction to the industrial six-axis robot, and send a labeling instruction to the labeling head after receiving a movement completion signal; The label printing and peeling device is used to print a label containing the steel coil information based on the steel coil information, peel off the corresponding label after printing is completed, and feed back a label printing and peeling completion signal to the PLC industrial control computer; The industrial six-axis robot is used to control the labeling head to move to the label picking position of the label printing and peeling device after receiving the label picking instruction, suck the label peeled by the label printing and peeling device through the vacuum suction cup on the labeling head, and after picking up the label, control the labeling head to move to the steel coil, and feedback the movement completion signal to the PLC industrial control computer; The labeling head is used to perform a labeling operation after receiving a labeling instruction, and to attach the label to the corresponding steel coil.

2. The automatic steel coil labeling system for simulating the production site according to claim 1, wherein, The label printing and peeling device includes a label storage device, a label printing controller, a printer and a pneumatic peeling system. The label storage device is used to store the steel coil information sent by the PLC industrial computer. The label printing controller is used to obtain the production label printing template through the steel coil information sent by the PLC industrial computer, and control the printer to print the label, and then start the pneumatic peeling system corresponding to the printer head to peel the printed label.

3. The system for automatically labeling steel coils at the simulated production site according to claim 1, wherein, The industrial six-axis robot comprises a six-axis robot body and a robot controller. The industrial six-axis robot is connected to a PLC industrial computer via the robot controller, receives control instructions from the PLC, and controls the movement of the six-axis robot body based on the control instructions.

4. The automatic steel coil labeling system for simulating a production site according to claim 1, wherein The labeling head includes a vacuum suction cup and a roller. The labeling head absorbs the label peeled by the label printing and peeling device through the vacuum suction cup, and during the labeling process, the label is pressed onto the steel coil through the roller. The PLC industrial computer pre-stores a machine head control model program. The PLC industrial computer sends a labeling instruction to the labeling head by calling the machine head control model program. The labeling head controls the vacuum suction cup to complete the separation of the label and the rolling control of the roller based on the label instruction.

5. The system for automatically labeling steel coils at the simulated production site according to claim 4, wherein The labeling head also includes a laser distance sensor; The PLC industrial computer is also used to obtain the position of the steel coil through the laser distance sensor on the labeling head, and based on the position of the steel coil, control the movement of the robot arm of the industrial six-axis robot, and drive the labeling head to the edge of the steel coil through the robot arm. The outer diameter and width of the steel coil, as well as the precise relative position between the labeling head and the steel coil are measured through the laser distance sensor. Based on the outer diameter of the steel coil, the width of the steel coil and the precise relative position, the corresponding labeling position is calculated, and based on the labeling position, the corresponding robot control program is called to control the industrial six-axis robot to move with the labeling head to the labeling position to perform the labeling operation.

6. The system for automatically labeling steel coils at the simulated production site according to claim 5, wherein The laser distance sensor includes a first laser distance sensor and a second laser distance sensor. The PLC industrial computer obtains the position of the steel coil through the first laser distance sensor on the labeling head, controls the movement of the robotic arm of the industrial six-axis robot based on the position of the steel coil, drives the labeling head to move to the edge of the steel coil through the robotic arm, and measures the outer diameter of the steel coil, the width of the steel coil, and the precise relative position between the labeling head and the steel coil through the second laser distance sensor. Based on the outer diameter of the steel coil, the width of the steel coil, and the precise relative position, the corresponding labeling position is calculated.

7. The system for automatically labeling steel coils at the simulated production site according to claim 6, characterized in that, The labeling position is the bundling position. The PLC industrial computer calculates the bundling position on the steel coil through the outer diameter and width of the steel coil, calculates the relative position between the bundling position and the labeling head based on the precise relative position between the labeling head and the steel coil, and controls the industrial six-axis robot to drive the labeling head to move to the bundling position based on the relative position between the bundling position and the labeling head, adjusts the pose of the labeling head, and performs the labeling operation.

8. The system for automatically labeling steel coils at the simulated production site according to claim 4, wherein The labeling head further includes a barcode scanner. The PLC industrial computer is further configured to, after the labeling is completed, control the robotic arm of the industrial six-axis robot to adjust its posture so that the barcode scanner on the labeling head is aligned with the label for scanning, read the label information containing the steel coil information, and complete the labeling process by comparing the steel coil information with the steel coil information issued by the PLC industrial computer.

9. The system for automatically labeling steel coils at the simulated production site according to claim 8, wherein, The PLC industrial computer is further configured to, after successfully reading the label information, control the robotic arm of the industrial six-axis robot to return to the initial position and output a signal indicating that the automatic labeling is completed. If the label information cannot be read successfully, it will automatically enter the error handling program, determine the current position of the robotic arm of the industrial six-axis robot, control the robotic arm of the industrial six-axis robot to return to the original position and issue an alarm, and wait for manual intervention.

10. The system for automatically labeling steel coils at the simulated production site according to claim 1, wherein, The PLC industrial computer consists of a PLC controller and an industrial computer.

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