Automatic moving labeling equipment used in steel coil warehouse

Abstract

The utility model relates to the technical field of labeling devices, in particular to automatic moving labeling equipment used in a steel coil warehouse, which comprises a top frame, a labeling mechanism, a label printing mechanism and two travelling mechanisms, the labeling mechanism and the label printing mechanism are both arranged on the top frame, and the two travelling mechanisms are arranged on two sides below the top frame. And the labeling mechanism comprises a moving assembly, a collaborative robot and a labeling assembly, the moving assembly is arranged on the top frame, the collaborative robot is arranged on the moving assembly, and the labeling assembly is arranged at the output end of the collaborative robot. The whole equipment is driven by the walking mechanism to move to the position of a steel coil, the label printer prints a label, the collaborative robot takes the label and adheres the label to the circumference of the steel coil, accurate and timely adhesion of the label can be achieved, and the whole equipment can span two rows of saddle libraries and can move between the two rows of saddle libraries. And in cooperation with reciprocating movement of the collaborative robot relative to the top frame, the labeling efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a labeling device technical field especially relates to a kind of for steel coil library automatic mobile labeling equipment. BACKGROUND

[0002] In the steel coil library, when intelligent travelling crane hoists steel coil to saddle, the information of the steel coil in the library, product number, material number and other steel coil information need to be made into label and pasted on the steel coil, so as to track the information of the steel coil and the traceability of production.

[0003] The existing scheme is usually completed by manual, and the operator prints out label in marking room according to the information of the library and the steel coil sent by the system, takes the label to the corresponding library for labeling, the scheme exists such phenomena as missing and wrong labeling, causes information confusion, increases labor cost, and the labeling efficiency is low, manual labeling is prone to mispositioning, cannot be unified, and affects product appearance.

[0004] Therefore, it is necessary to provide a kind of for steel coil library automatic mobile labeling equipment improvement to overcome the defects of prior art. INVENTION CONTENTS

[0005] The utility model aims at solving the problems in prior art, and provides a kind of for steel coil library automatic mobile labeling equipment.

[0006] The technical scheme of the utility model is:

[0007] A kind of for steel coil library automatic mobile labeling equipment, including top frame, labeling mechanism, label printing mechanism and walking mechanism, labeling mechanism and label printing mechanism are all set on top frame, walking mechanism is set to two, two walking mechanisms are symmetrically set in the lower sides of top frame, labeling mechanism includes moving assembly, collaborative robot and labeling assembly, moving assembly is set on the side wall of top frame, collaborative robot is set on moving assembly, and labeling assembly is set on the output end of collaborative robot.

[0008] Preferably, moving assembly includes moving rack, wire rail, rack and sliding plate, moving rack is detachably set on top frame, wire rail and rack are all set on moving rack, sliding plate is connected with wire rail, servo reduction motor is provided on sliding plate, drive gear is provided on the output shaft of servo reduction motor, drive gear is engaged with rack, and collaborative robot is set on sliding plate.

[0009] Preferably, moving assembly further includes drag chain, one end of drag chain is connected to moving rack, and the other end of drag chain is connected to sliding plate.

[0010] Preferably, the labeling assembly comprises a mounting flange, a fan, a clamp skeleton and a sponge suction cup, the mounting flange is connected with the output end of the collaborative robot, the clamp skeleton is arranged on the mounting flange, the fan is arranged on the upper surface of the clamp skeleton, and the sponge suction cup is arranged on the lower surface of the clamp skeleton.

[0011] Preferably, the label printing mechanism comprises a mounting frame, a label printer and a label taking auxiliary mechanism, the mounting frame is arranged on the side wall on the same side of the labeling mechanism and the top frame, the label printer is arranged on the mounting frame, and the label taking auxiliary mechanism is arranged on the label printer.

[0012] Preferably, the traveling mechanism comprises a mounting leg, a laser radar, a horizontal rudder wheel, a laser displacement sensor and a battery pack, the horizontal rudder wheel is arranged on the bottom of the two sides of the mounting leg through a rudder wheel support, the laser radar is arranged on the bottom of the two sides of the mounting leg through a radar support, and the laser displacement sensor and the battery pack are arranged on the mounting leg.

[0013] Preferably, the mounting leg is provided with an enclosing plate, and the enclosing plate is provided with a charging port.

[0014] Preferably, the top of the top frame is provided with a running indicator light.

[0015] Compared with the prior art, the beneficial effects of the present application are:

[0016] The present application can realize accurate and timely labeling of the label, and the whole device can cross two rows of saddle libraries and can move between the two rows of saddle libraries, and can cooperate with the reciprocating movement of the collaborative robot relative to the top frame, thereby improving the labeling efficiency and the uniformity and beauty of the labeling position. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a three-dimensional structure schematic diagram of the present application;

[0018] Figure 2 It is a three-dimensional structure schematic diagram of the present application; Figure 1

[0019] Figure 3 It is a three-dimensional structure schematic diagram of the present application; Figure 1

[0020] Figure 4 It is a three-dimensional structure schematic diagram of the present application; Figure 1

[0021] Figure 5 It is a labeling mechanism structure schematic diagram of the present application;​​​

[0022] Figure 6 It is a walking mechanism structure schematic view of the utility model.

[0023] Among them, 1, top frame; 2, labeling mechanism; 201, moving frame; 202, wire rail; 203, rack; 204, sliding plate; 205, servo reduction motor; 206, driving gear; 207, collaborative robot; 208, drag chain; 209, mounting flange; 210, fan; 211, jig skeleton; 212, sponge suction cup; 3, label printing mechanism; 301, mounting bracket; 302, label printer; 303, label taking auxiliary mechanism; 4, walking mechanism; 401, mounting leg; 402, laser radar; 403, horizontal rudder; 404, laser displacement sensor; 405, battery pack; 406, rudder support; 407, radar support; 408, sealing plate; 409, charging port; 5, running indicator light; 6, saddle; 7, steel coil. DETAILED DESCRIPTION

[0024] In order to make the technical means, technical features, utility model purposes and technical effects realized by the utility model easy to understand, the utility model is further described below in combination with specific drawings.

[0025] As shown in Figures 1-6 , a kind of automatic moving labeling equipment in steel coil warehouse, including top frame 1, labeling mechanism 2, label printing mechanism 3 and walking mechanism 4, the inside of top frame 1 can be used to install the component (not shown in drawing) for realizing control, labeling mechanism 2 and label printing mechanism 3 are both installed on top frame 1, can realize near control, reduce the length of cable between each other, the number of walking mechanism 4 is two, two walking mechanism 4 are symmetrically installed below two sides of top frame 1, for supporting top frame 1, and driving top frame 1 and labeling mechanism 2 and label printing mechanism 3 move, after installation, top frame 1 and walking mechanism 4 form portal frame form, can be crossed by walking, overall above the saddle 6 and the steel coil 7 placed on the saddle 6.

[0026] As shown in Figure 1 , Figure 2 , Figure 3 And Figure 5 Labeling mechanism 2 includes moving assembly, collaborative robot 207 and labeling assembly, moving assembly is installed on the side wall of one side of top frame 1, is arranged along the length direction of top frame 1, collaborative robot 207 is connected on moving assembly, realizes reciprocating movement relative to top frame 1 by moving assembly, labeling assembly is installed on the output end of collaborative robot 207, is taken label and is pasted on corresponding steel coil 7 by collaborative robot 207 driving label;

[0027] The moving assembly includes a moving frame 201, linear guides 202, a rack 203, a sliding plate 204, and a cable chain 208. The moving frame 201 is bolted to the top frame 1 for easy assembly and disassembly. Both the linear guides 202 and the rack 203 are mounted on the moving frame 201, with the rack 203 and the two linear guides 202 installed parallel to each other. The sliding plate 204 is mounted on the linear guides 202 and can move along them. A servo geared motor 205 is mounted on the sliding plate 204, and a drive gear 206 is mounted on the output shaft of the servo geared motor 205. The drive gear 206 meshes with the rack 203, and the servo geared motor 205 drives the drive gear 208. The rotating drive gear 206 drives the sliding plate 204 to move along the linear track 202 through the meshing transmission between the drive gear 206 and the rack 203. The collaborative robot 207 is mounted on the sliding plate 204 and moves with the sliding plate 204. One end of the drag chain 208 is connected to the moving frame 201 and remains in a fixed position. The other end of the drag chain 208 is connected to the sliding plate 204 and moves with the sliding plate 204. The collaborative robot 207, the servo reduction motor 205, and the wires and cables required for the labeling components are all installed inside the drag chain 208 in an orderly manner to avoid malfunctions and safety hazards caused by entanglement and crossover, thereby improving stability and reliability.

[0028] The labeling assembly includes a mounting flange 209, a fan 210, a clamp frame 211, and a sponge suction cup 212. The mounting flange 209 is used to connect to the output end of the collaborative robot 207. The clamp frame 211 is mounted on the mounting flange 209. The fan 210 is mounted on the upper surface of the clamp frame 211, and the sponge suction cup 212 is mounted on the lower surface of the clamp frame 211. When the label is picked up, the fan 210 works to generate negative pressure suction, which adsorbs the label onto the sponge suction cup 212. When the label is pasted, the sponge suction cup 212 presses the label firmly and pastes it to the designated position on the steel coil 7. The sponge suction cup 212 can adapt to the curvature of the outer ring of the steel coil 7 by deformation, so that the label is pasted flat.

[0029] like Figure 1 and Figure 4 As shown, the label printing mechanism 3 includes a mounting frame 301, a label printer 302, and a label picking auxiliary mechanism 303. The mounting frame 301 is connected to the side wall of the top frame 1. The label printer 302 is mounted on the mounting frame 301 and is used to print labels. The label picking auxiliary mechanism 303 is located on the label printer 302 and is used to blow the label upward so that the sponge suction cup 212 can pick up the label.

[0030] like Figure 1 and Figure 6As shown, the walking mechanism 4 includes mounting legs 401, laser radars 402, horizontal rudders 403, laser displacement sensors 404 and battery packs 405, the top end of the mounting legs 401 is bolted with the top frame 1, facilitating installation and disassembly, the number of the laser radars 402 and the horizontal rudders 403 is two, the two laser radars 402 and the two horizontal rudders 403 are symmetrically installed on the lower two sides of the mounting legs 401, the laser radars 402 are connected with the mounting legs 401 through radar supports 407, the horizontal rudders 403 are connected with the mounting legs 401 through rudder supports 406, the overall movement and the arbitrary angle turning in place are realized through the horizontal rudders 403, the laser radars 402 are used for position detection, avoiding collision during equipment movement, the laser displacement sensors 404 are installed on the mounting legs 401, when walking on the saddles 6, the distance between the two saddles 6 is detected in real time through the laser displacement sensors 404, preventing the equipment from running off, the battery packs 405 are installed on the mounting legs 401, and power supply is provided for the laser radars 402, the horizontal rudders 403 and the laser displacement sensors 404, without external power supply, the sealing plates 408 are installed on the mounting legs 401, the battery packs 405 are enclosed in the inside of the sealing plates 408, without leakage, the appearance is improved, and the safety in use is improved, the charging ports 409 are processed on the sealing plates 408, and the battery packs 405 can be charged through the charging ports 409.

[0031] The horizontal rudders 403, the laser radars 402 and the laser displacement sensors 404 are all applications of prior art, and the specific structure will not be described here.

[0032] As shown in the figure, Figure 1 The running indicator light 5 is installed on the top of the top frame 1, the running condition of the whole equipment is indicated by sound and light, and the operator can observe and adjust.

[0033] The working principle of the utility model is:

[0034] In use, the steel coil 7 is hoisted and placed on the saddle 6 by the intelligent travelling crane, the control components installed in the top frame 1 receive the signals (position information and label information, etc.) sent by the intelligent travelling crane, and the whole device is moved to the position of the corresponding saddle 6 through the horizontal rudder wheel 403; when moving, the safety of movement is ensured through the laser radar 402 and the laser displacement sensor 404 to avoid collision and deviation, after moving to the position, the label printer 302 prints the received label information into the corresponding label, the servo reduction motor 205, the drive gear 206 and the rack 203 drive the sliding plate 204 to move along the line rail 202, the collaborative robot 207 is moved close to the label printer 302, the label printing assembly is taken up by the collaborative robot 207, when taking up, the label printing auxiliary mechanism 303 on the label printer 302 blows the printed label upward, the fan 210 rotates to generate suction force, and the label is adsorbed on the sponge suction cup 212;

[0035] The servo reduction motor 205 drives the sliding plate 204 to move to the position of the steel coil 7, the collaborative robot 207 pastes the label on the steel coil 7, when pasting the label, the sponge suction cup 212 can adapt to the outer circle of the steel coil 7 through deformation, so that the label is pasted flat;

[0036] The gantry structure formed by the top frame 1 and the two walking mechanisms 4 can be arranged above the two rows of parallel saddle 6 libraries, and can simultaneously meet the labeling requirements of the two rows of steel coils 7, and the labeling efficiency is high.

[0037] In conclusion, only the preferred embodiments of the utility model are described above, and the embodiments are not used to limit the implementation range of the utility model. That is, any equivalent changes and modifications made according to the content of the patent application scope of the utility model should belong to the technical scope of the utility model.

Claims

1. An automatic moving labeling device for use in a steel coil warehouse, characterized in that: The system includes a top frame (1), a labeling mechanism (2), a label printing mechanism (3), and a walking mechanism (4). The labeling mechanism (2) and the label printing mechanism (3) are both located on the top frame (1). There are two walking mechanisms (4), which are symmetrically located on the lower sides of the top frame (1). The labeling mechanism (2) includes a moving component, a collaborative robot (207), and a labeling component. The moving component is located on one side wall of the top frame (1), the collaborative robot (207) is located on the moving component, and the labeling component is located at the output end of the collaborative robot (207).

2. The automatic moving labeling device for steel coil warehouses according to claim 1, characterized in that: The mobile component includes a mobile frame (201), a linear guide (202), a rack (203), and a sliding plate (204). The mobile frame (201) is detachably mounted on the top frame (1). The linear guide (202) and the rack (203) are both mounted on the mobile frame (201). The sliding plate (204) is connected to the linear guide (202). A servo reduction motor (205) is mounted on the sliding plate (204). A drive gear (206) is mounted on the output shaft of the servo reduction motor (205). The drive gear (206) meshes with the rack (203). The collaborative robot (207) is mounted on the sliding plate (204).

3. The automatic moving labeling device for steel coil warehouses according to claim 2, characterized in that: The moving component also includes a cable chain (208), one end of which is connected to the moving frame (201), and the other end of which is connected to the sliding plate (204).

4. The automatic moving labeling device for steel coil warehouses according to claim 1, characterized in that: The labeling assembly includes a mounting flange (209), a fan (210), a clamp frame (211), and a sponge suction cup (212). The mounting flange (209) is connected to the output end of the collaborative robot (207). The clamp frame (211) is mounted on the mounting flange (209). The fan (210) is mounted on the upper surface of the clamp frame (211), and the sponge suction cup (212) is mounted on the lower surface of the clamp frame (211).

5. The automatic moving labeling device for steel coil warehouses according to claim 1, characterized in that: The label printing mechanism (3) includes a mounting frame (301), a label printer (302), and a label picking auxiliary mechanism (303). The mounting frame (301) is set on the side wall of the top frame (1) on the same side as the labeling mechanism (2). The label printer (302) is set on the mounting frame (301), and the label picking auxiliary mechanism (303) is set on the label printer (302).

6. The automatic moving labeling device for steel coil warehouses according to claim 1, characterized in that: The walking mechanism (4) includes mounting legs (401), a lidar (402), a horizontal steering wheel (403), a laser displacement sensor (404), and a battery pack (405). The horizontal steering wheel (403) is mounted on both sides of the bottom of the mounting leg (401) via a steering wheel bracket (406). The lidar (402) is mounted on both sides of the bottom of the mounting leg (401) via a radar bracket (407). The laser displacement sensor (404) and the battery pack (405) are mounted on the mounting leg (401).

7. The automatic moving labeling device for steel coil warehouses according to claim 6, characterized in that: The mounting leg (401) is provided with a sealing plate (408), and the sealing plate (408) is provided with a charging port (409).

8. The automatic moving labeling device for steel coil warehouse according to claim 1, characterized in that: The top of the top frame (1) is provided with a running indicator light (5).

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