Automatic reading device for steel coil labels

Abstract

The automatic reading device for steel coil labels includes a structural frame, a telescopic stepper motor shaft connected downwardly with a tubular nut. The tubular nut is screwed to a vertical screw rod, and the lower end of the screw rod is hinged to the tail of a rotating L bracket. The rotating L bracket has a rotating stepper motor, and a scanning head bracket is provided at the front end of the shaft, and a scanning head is arranged inside. The rotating L bracket is supported on the structural frame through a rotating center shaft. The rotating stepper motor shaft is a hollow shaft. The scanning head cable is laid through the scanning head bracket and the hollow shaft. The structural frame has a telescopic positioning limit device. A rotating positioning baffle is provided at the rear end of the rotating stepper motor shaft, and a rotating positioning limit device is provided at the rear. The cables of the scanning head, the rotating stepper motor and the rotating positioning limit device bypass the rotating center cable guide wheel, the middle and upper cable guide wheels, and merge with the cables of the telescopic positioning limit device into a cable bundle. The cable tightening spring tightens the cable bundle. The problem that the steel coil labels cannot be automatically read can be solved, and the full automation of steel coil lifting can be realized.

Description

Technical Field

[0001] The invention belongs to the field of mechanical device detection, and in particular relates to a steel coil label automatic reading device. Background Art

[0002] At present, the automation of crane equipment that needs to lift steel coils in steel coil production lines and steel coil warehouses has been widely popularized, especially the automation penetration rate of horizontal coil lifting cranes is much higher than that of other steel product lifting cranes. This is mainly because the clamps for horizontal coil lifting are relatively easy to realize automation transformation due to their structural characteristics. However, although the automation penetration rate is very high, manual intervention is still required in the stage of steel coil entry and exit. This is mainly because the barcode of the steel coil label must be scanned when the steel coil is entered and exited, and the steel coil label is basically pasted on the inner hole surface of the steel coil in the form of self-adhesive stickers. Its position is usually not very fixed, especially when it is manually pasted. It is even more random, and even if it is automatically pasted by a robot, its position will change with the lifting of the steel coil. Therefore, there is currently no effective means to realize automatic reading of steel coil labels. Summary of the invention

[0003] The purpose of the present invention is to provide a steel coil label automatic reading device, which can conveniently adjust the position of the scanning head to read the label on the surface of the inner hole of the steel coil.

[0004] The technical solution adopted is:

[0005] The steel coil label automatic reading device includes a structural frame, and the structural frame has a protruding opening corresponding to the rotating L bracket.

[0006] The technical points are:

[0007] The structural frame supports the telescopic stepper motor.

[0008] The telescopic stepper motor shaft extends downward and is fixedly connected to the upper end of a vertically arranged tubular nut.

[0009] The tubular nut is threadedly connected to a vertically arranged screw rod, and the screw rod extends downwardly out of the tubular nut.

[0010] A rotating L bracket is arranged below the screw rod, and the rotating L bracket comprises a rotating L bracket tail portion and a rotating L bracket front portion which are arranged perpendicularly to each other.

[0011] The lower end of the screw rod is hinged to the tail of the rotating L bracket.

[0012] A rotary stepping motor is fixedly arranged at the front end of the rotary L bracket.

[0013] The front end of the rotating stepper motor shaft extends forward from the front part of the rotating L bracket and is fixedly connected with the scanning head bracket.

[0014] The scanning head is fixedly arranged inside the scanning head bracket.

[0015] The scan head holder is in the shape of a steel cube.

[0016] The front part of the rotating L bracket is supported on the structural frame through the rotating center axis.

[0017] The shaft of the rotary stepper motor is a hollow shaft. The scanning head cable is laid through the scanning head bracket and the hollow shaft of the rotary stepper motor in sequence.

[0018] The rotating center shaft is provided with a rotating center cable guide wheel.

[0019] A middle cable guide wheel is also provided at the front of the rotating L bracket, which is located behind the rotating center axis.

[0020] An upper cable guide wheel is arranged inside the structural frame.

[0021] A telescopic positioning and limiting device corresponding to the position of the scanning head bracket is arranged on the structural frame on the left side of the screw rod.

[0022] A vertically arranged rotation positioning baffle is fixed to the rear end of the rotation stepper motor shaft, and a rotation positioning limit device is arranged on the front part of the rear rotation L bracket.

[0023] The controller is fixed at the upper edge of the structure frame. The cables of the scanning head, the rotating stepper motor, and the rotating positioning limit device are passed through the rotating center cable guide wheel, the middle cable guide wheel, and the upper cable guide wheel in turn, and then merged upward with the telescopic positioning limit device cable to form a cable bundle.

[0024] One end of the cable tightening spring is fixed to a fixing position inside the structural frame close to the controller cable outlet position, and the other end is fixed to the vertically upward cable bundle.

[0025] The rotating central axis is fixed on the structural frame, and the front part of the rotating L bracket is arranged on the rotating central axis through at least one bearing.

[0026] Its advantages are:

[0027] This technical solution can solve the problem that steel coil labels cannot be automatically read, and realize the goal of fully automated steel coil lifting without human intervention. It will completely replace the process of manually scanning steel coil labels through handheld devices, making the crane automation process smoother and more complete, and can save a human link in the entire crane automation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the mechanical structure of the present invention.

[0029] Figure 2 for Figure 1AA section view.

[0030] Figure 3 It is a schematic diagram of the structure after the rotating L bracket is folded.

[0031] Figure 4 for Figure 3 Schematic diagram of direction B.

[0032] Figure 5 This is the system structure diagram.

[0033] Figure 6 For typical applications.

[0034] Figure 7 is the program flowchart.

[0035] Figure 8 for Figure 7 A partial enlargement of the upper part.

[0036] Fig. 9 for Figure 7 A partial enlargement of the lower half.

[0037] Structural frame 1, controller 2, telescopic stepper motor 3, tubular nut 4, screw 5, telescopic positioning limit device 6, rotation positioning limit device 7, rotating L bracket 8, rotating L bracket tail 9, rotating L bracket front 10, screw hinge point 11, rotating stepper motor 12, scanning head bracket 13, rotating positioning baffle 14, rotating center axis 15, rotating center cable guide wheel 16, middle cable guide wheel 17, upper cable guide wheel 18, cable bundle 19, cable tightening spring 20, rotating stepper motor shaft 21, bearing 22, extension port 23, clamp leg 24, steel coil 25, scanning head 26. DETAILED DESCRIPTION

[0038] The automatic reading device for steel coil labels comprises a structural frame 1 which is in the shape of a rectangular parallelepiped as a whole and has an extension opening 23 which corresponds in position, shape and rotation to an L bracket 8.

[0039] A controller 2 is fixedly arranged at the upper part of the structure frame 1 near the edge.

[0040] A telescopic stepping motor 3 is provided below the controller 2, and the telescopic stepping motor 3 and the controller 2 are connected via a cable.

[0041] The telescopic stepping motor 3 is fixed in the structural frame 1 .

[0042] The telescopic stepping motor 3 extends axially downward and is fixedly connected to the upper end of a vertically arranged tubular nut 4 .

[0043] The tubular nut 4 is threadedly connected to a vertically arranged screw rod 5 , and the screw rod 5 extends downwardly out of the tubular nut 4 .

[0044] A rotating L bracket 8 is provided below the screw rod 5 , and the rotating L bracket 8 includes a rotating L bracket tail portion 9 and a rotating L bracket front portion 10 which are perpendicularly arranged to each other.

[0045] The lower end of the screw rod 5 is hinged to the rear end 9 of the rotating L bracket, and a screw rod hinge point 11 is provided.

[0046] A rotating stepping motor 12 is fixedly arranged at the end of the front portion 10 of the rotating L bracket.

[0047] The rotary stepping motor shaft 21 is a hollow shaft.

[0048] The front end of the rotating stepper motor shaft 21 extends forward from the rotating L bracket front part 10 and is fixedly connected to the scanning head bracket 13. The scanning head 26 cable passes through the scanning head bracket 13 and the hollow shaft of the rotating stepper motor 12 in sequence.

[0049] The middle and rear part of the front part 10 of the rotating L bracket is supported on the structural frame 1 through the rotating central axis 15.

[0050] The rotating central shaft 15 is fixed on the structural frame 1 , and the rotating L bracket front portion 10 is arranged on the rotating central shaft 15 via at least one bearing 22 .

[0051] In order to increase the support strength and improve the stability of the rotating L bracket 8, two bearings 22 are respectively arranged at the thickened parts on both sides of the front part 10 of the rotating L bracket to support the rotating L bracket 8 on the rotating central axis 15.

[0052] The rotating center shaft 15 is provided with a rotating center cable guide wheel 16 , and the guide wheel 16 can flexibly rotate on the rotating center shaft 15 .

[0053] The front part 10 of the rotating L bracket is also provided with a middle cable guide wheel 17, and the axis of the middle cable guide wheel 17 is fixedly supported on the front part 10 of the rotating L bracket and is located behind the rotating center axis 15. The middle cable guide wheel 17 can rotate flexibly around the axis of the middle cable guide wheel 17.

[0054] An upper cable guide wheel 18 is provided inside the structural frame 1 , and the shaft of the upper cable guide wheel 18 is fixedly supported inside the structural frame 1 . The upper cable guide wheel 18 can flexibly rotate around the shaft of the upper cable guide wheel 18 .

[0055] In such Figure 1 In the state shown, when the front part 10 of the rotating L bracket is horizontal, the middle cable guide wheel 17 is higher than the rotating center cable guide wheel 16, and the middle cable guide wheel 17 and the upper cable guide wheel 18 are located on a vertical straight line. The upper cable guide wheel 18 is located above the middle cable guide wheel 17.

[0056] The structural frame 1 on the left side of the screw rod 5 is provided with a telescopic positioning and limiting device 6, which can be a proximity switch. The telescopic positioning and limiting device 6 is located above the upper cable guide wheel 18.

[0057] The rear end of the rotary stepper motor shaft 21 extends backwards and is fixed with a vertically arranged rotary positioning baffle 14 .

[0058] A rotation positioning limit device 7 is fixed on the front portion 10 of the rotation L bracket behind the rotation positioning baffle 14 , and the rotation positioning limit device 7 can be a proximity switch.

[0059] The rotation positioning baffle 14 and the rotation positioning limit device 7 are located between the rotation stepping motor 12 and the rotation center shaft 15 .

[0060] The cables of the scanning head 26, the rotating stepping motor 12, and the rotating positioning limit device 7 are successively passed around the rotating center cable guide wheel 16, the middle cable guide wheel 17 and the upper cable guide wheel 18, and upwardly merged with the cables of the telescopic positioning limit device 6 to form a cable bundle 19 and connected to the controller 2 accordingly.

[0061] The telescopic positioning and limiting device 6 is located on the left side of the cable bundle 19 below the cable tightening spring 20 .

[0062] One end (upper end) of the cable tightening spring 20 is fixed at a fixed place (the bottom of the controller 2), and the other end (lower end) is fixed to the vertically upward cable bundle 19, and the cable bundle 19 is kept with a certain tension during the entire operation of the equipment, so that during the rotation of the rotating L bracket 8, the cable will always be close to the corresponding three cable guide wheels.

[0063] like Figure 1 As shown: the fixing part, the middle cable guide wheel 17 and the upper cable guide wheel 18 are located on a vertical straight line.

[0064] The proximity switch is a product of SICK, model: IM18.

[0065] The controller 2 uses ST's STM32F407 as the main control CPU, uses the current general interface components as the interface output, and uses two Sanyo LV8726 chips as the driving chips of the telescopic stepper motor 3 and the rotary stepper motor 12 respectively.

[0066] The scanning head 26 is a product of Keyence, model: SR-1000.

[0067] from Figure 1 and 2Look: the rotating stepper motor shaft 21 adopts a hollow shaft, and the scanning head 26 is installed inside the scanning head bracket 13 and connected to the rotating stepper motor 12 through the hollow shaft. Due to the use of the hollow shaft, the scanning head 26 cable can pass through the scanning head bracket 13 and be led out through the hollow shaft, so that the scanning head bracket 13 can rotate 360 ​​degrees under the drive of the rotating stepper motor 12, and the winding and bending of the scanning head 26 cable are greatly reduced, which greatly improves the stability and reliability of the equipment.

[0068] A rotational positioning baffle 14 is connected to the tail output shaft of the rotary stepper motor 12. The rotational positioning baffle 14 is in the shape of a narrow long steel strip. When the rotational positioning baffle 14 is in the vertically upward position, the rotational positioning baffle 14 just blocks the front of the head of the rotational positioning limiter 7. The rotational positioning limiter 7 uses a proximity switch. When it senses the front of the head ( Figure 1 When the left side of the scanning head bracket 13 is blocked, the output electrical logic will be flipped. The logic signal will be used to confirm and correct the rotation angle of the scanning head bracket 13, so as to avoid the scanning head bracket 13 rotating more than 360 degrees and causing damage to the cable due to excessive winding.

[0069] The scanning head bracket 13, the rotating stepping motor 12, and the rotating positioning limit device 7 are all installed on the rotating L bracket 8, and the rotating L bracket 8 can rotate 90 degrees around the rotation center (rotation center axis 15). The equipment cable in the section from the rotation center to the scanning head bracket 13 will not change with the rotation of the rotating L bracket, so this section of the cable can be reasonably arranged and bundled, and fixedly wound around the rotating center cable guide wheel 16, so that the cable is not affected by the rotation of the rotating L bracket 8, thereby improving the stability and reliability of the equipment.

[0070] A cable guide wheel (a middle cable guide wheel 17 and an upper cable guide wheel 18) is provided at the rear part 9 of the rotating L bracket and the structural frame 1 near the rear part 9 of the rotating L bracket. When the front part 10 of the rotating L bracket is in a horizontal position, the center lines of the two cable guide wheels are in the same vertical straight line, and are in the same vertical straight line with the cable lead-out end of the controller 2 and the two fixed ends of the cable tightening spring 20. The upper end of the cable tightening spring 20 is fixed to the bottom of the controller 2, and the lower end is fixed to the cable bundle 19, and the cable bundle 19 is kept with a certain tension during the entire operation of the equipment. In this way, during the rotation of the rotating L bracket 8, the cable will always be close to the three cable guide wheels, which can ensure that the cable will not be entangled due to the frequent movement and rotation of the equipment during use, resulting in uneven force on the cable, or excessive force causing cable damage, further ensuring the reliability of the equipment.

[0071] A screw rod hinge point 11 is set at the top of the tail 9 of the rotating L bracket, and one end of the lower tail of the screw rod 5 is flexibly rotatably connected with the rotating L-shaped bracket 8 through the hinge point. The other end of the screw rod 5 is connected to the tubular nut 4 by threading. As the tubular nut 4 rotates, the screw rod 5 will extend or retract into the inside of the tubular nut 4. When the position of the tubular nut 4 cannot be changed, the extension or retraction of the screw rod 5 will directly drive the rotating L bracket 8 to rotate along the rotation center. The upper end of the tubular nut 4 is connected to the output shaft of the telescopic stepping motor 3, and the connection is a fixed connection. The tubular nut 4 and the output shaft of the telescopic stepping motor 3 will not slide. The telescopic positioning limit device 6 is fixed on the structural frame 1, and its position is just above the scanning head bracket 13 of the fully retracted rotating L bracket 7, and a certain gap is reserved. The limit also adopts the same model of proximity switch as the rotating positioning limit device 7, that is, when the rotating L bracket 8 is retracted, it can be detected by the limit and transmitted to the controller 2 for detection and processing. The controller 2 is responsible for controlling the two stepper motors and collecting the signals of the two proximity switches. The controller 2 is fixed at the top of the mechanism frame 1. The telescopic stepper motor 3 is fixed at the bottom of the controller 2. The arrangement of the telescopic stepper motor 3 should ensure that the maximum extension length of the screw rod 4 can make the rotating L-shaped bracket 8 rotate 90 degrees and retract, and the screw rod 5 has a certain length margin in the tubular nut 4. The minimum extension can ensure that the rotating L-shaped bracket 8 is in a horizontal position, and the screw rod 5 will not hit the bottom of the tubular nut 4.

[0072] The rotation center is fixed to the structural frame 1 through a rotation center axis 15. Since the weight of the entire rotating L bracket 8 is borne by the rotating center axis 15, in order to ensure the stable operation of the rotating L bracket 8, the rotation center position must be specially processed. The force strength of the rotation center is enhanced and the stability of the rotating L bracket 8 is increased by thickening the thickness of the rotating L bracket 8 at the rotation center. The rotation flexibility and stability of the rotating L bracket 8 can be improved by adopting double bearings.

[0073] from Figure 3 Viewed from above: the rotating L bracket 8 is in a vertical state after being folded, and the screw 5 and the tail 9 of the rotating L bracket are in a vertical state of 90 degrees. This state can ensure that the entire structure is in a relatively stable state after the rotating L bracket 8 is folded, and the force on each hinged part will not be too large. The structural frame 1 wraps the entire device from the outside, and the structural frame 1 is made of thick steel plates, so as to protect the precision components in the equipment from deformation due to external vibrations or even collisions during the operation of the equipment, which may cause damage to the equipment. It can also be seen that the design of the three cable guide wheels allows the cable bundle 19 to be close to the three cable guide wheels under the action of the cable tightening spring 20, and is in a stable state, and will not be entangled due to the vibration of the equipment and the rotation of the rotating L bracket 8, resulting in abnormal force.

[0074] exist Figure 4 In the B direction view, after the rotating L bracket 8 is fully retracted, the entire device will be received inside the structural frame 1, and the bottom of the rotating L bracket 8 also forms a certain degree of sealing on the extension port 23 of the structural frame 1, thereby protecting the internal precision equipment from damage.

[0075] The scanning head 26, the telescopic positioning and limiting device 6 and the rotation positioning and limiting device 7 are all connected to the controller 2. The telescopic stepping motor 3 and the rotation stepping motor 12 are all connected to the controller 2.

[0076] The controller 2 is connected to the crane PLC. The controller 2 receives the command of the crane PLC, and then controls the operation of the rotary telescopic stepping motor 3 and the rotating stepping motor 12, thereby controlling the rotation of the scanning head bracket 13 and the extension and retraction of the rotating L bracket 8. The data of the scanning head 26 will be collected by the controller 2 and sent to the crane PLC.

[0077] Typical application of this patent: Since the labels of the steel coil 25 are all pasted in the inner hole on one side of the steel coil 25, the reading device can be installed on either side of the clamp leg 24 of the clamp. Figure 6 The device can be installed at both positions shown in the figure. If the label of the steel coil 25 is not pasted in a standard manner and may appear randomly at both ends of the steel coil 25, it is necessary to install a set of the device on both clamp legs 24.

[0078] The basic working process of this patent is that when the driving PLC issues an instruction to scan the steel coil label, the controller 2 receives the instruction, controls the telescopic stepper motor 3 to rotate, retracts the screw 5, and the rotating L bracket 8 extends out of the structural frame 1. The rotation angle of the rotating L bracket 8 can be accurately controlled according to the pulse number of the telescopic stepper motor 3 and the pitch of the screw 5. When the rotating L bracket 8 is in a horizontal position, the telescopic stepper motor 3 stops running. The controller 2 will continue to control the rotation of the rotating stepper motor 12. Since the scanning head bracket 13 is connected to the rotating stepper motor 12 through a hollow shaft, the scanning head bracket 13 will rotate with the rotation of the rotating stepper motor shaft 21. The rotation angle of the scanning head bracket 13 can be accurately controlled by precisely controlling the pulse number of the rotating stepper motor 12. Every time the scanning head bracket 13 rotates 5 degrees, the controller 2 will issue a scanning instruction to the scanning head 26, so that the scanning head 26 is in a scanning and recognition state. If the scan is successful, the scan result is read out and fed back to the crane PLC. Since the scan head 26 has a large scanning angle, the inner surface of one end of the steel coil 25 can be completely scanned as the scan head bracket 13 rotates 360 degrees, thereby scanning the label data pasted in the inner hole of the steel coil 25. If the scan head bracket 13 still fails to scan the data after rotating 360 degrees, a scan failure message is fed back to the crane PLC (if several reading devices fail, it may be that the label is damaged or the pasting position is not standard, and manual reading operation is required). Due to the 360-degree rotation of the scan head bracket 13, no matter where the label is pasted in the inner hole of the steel coil, as long as it is close to one end of the steel coil 25, it can be scanned. When the scan data is sent or the scan failure data is sent, the controller 2 will control the scan head bracket 13 to rotate in the opposite direction and reset to the 0 degree position. During this process, the controller 2 will collect the status of the rotation positioning limit device 7 in real time. Once the limit is activated (such as Figure 2 The scanning head bracket 13 is oriented as shown in the figure), and the number of pulses of the rotating stepper motor 12 will be corrected to ensure the accuracy of the next control. After the scanning head bracket 13 is reset, the controller 2 will control the telescopic stepper motor 3 to rotate and extend the screw 5, so that the rotating L bracket 8 will be retracted. During this process, the controller 2 will collect the state of the real-time telescopic positioning limit device 6 in real time. When the limit state is reversed, it is considered that the rotating L bracket 8 has been reset, and the number of pulses of the telescopic stepper motor 3 will be calibrated to ensure the accuracy of the next control. When the rotating L bracket 8 is reset, the controller 2 sends a standby signal to the driving PLC, and the driving PLC can proceed to the next step after receiving the signal.

Claims

1. A steel coil label automatic reading device, comprising a structural frame (1), the structural frame (1) having an extension opening (23) corresponding to a rotating L bracket (8); characterized in that: The structural frame (1) supports a telescopic stepping motor (3); The telescopic stepping motor (3) extends axially downward and is fixedly connected to the upper end of a vertically arranged tubular nut (4); The tubular nut (4) is threadedly connected to a vertically arranged screw rod (5), and the screw rod (5) extends downwardly out of the tubular nut (4); A rotating L bracket (8) is provided below the screw rod (5), and the rotating L bracket (8) comprises a rotating L bracket tail portion (9) and a rotating L bracket front portion (10) which are arranged perpendicular to each other; The lower end of the screw rod (5) is hinged to the rear end of the rotating L bracket (9); A rotating stepping motor (12) is fixedly arranged at the front end of the rotating L bracket (10); The front end of the rotating stepper motor shaft (21) extends forward from the front part of the rotating L bracket (10) and is fixedly connected to the scanning head bracket (13); The scanning head (26) is fixedly arranged inside the scanning head bracket (13); The front part (10) of the rotating L bracket is supported on the structural frame (1) via the rotating center axis (15); The rotating stepper motor shaft (21) is a hollow shaft; the scanning head (26) cable is sequentially passed through the scanning head bracket (13) and the hollow shaft of the rotating stepper motor (12); The rotating center shaft (15) is provided with a rotating center cable guide wheel (16); The front part (10) of the rotating L bracket is also provided with a middle cable guide wheel (17) which is located behind the rotating central axis (15); An upper cable guide wheel (18) is provided inside the structural frame (1); A telescopic positioning and limiting device (6) corresponding to the position of the scanning head bracket (13) is provided on the structural frame (1) on the left side of the screw rod (5); A vertically arranged rotation positioning baffle (14) is fixed to the rear end of the rotation stepper motor shaft (21), and a rotation positioning limit device (7) is provided on the front part (10) of the rear rotation L bracket; The cables of the scanning head (26), the cables of the rotating stepping motor (12), and the cables of the rotating positioning and limiting device (7) are passed around the rotating center cable guide wheel (16), the middle cable guide wheel (17), and the upper cable guide wheel (18) in sequence, and are merged upward with the cables of the telescopic positioning and limiting device (6) to form a cable bundle (19); One end of the cable tightening spring (20) is fixed to a fixed position, and the other end is fixed to the vertically upward cable bundle (19); The telescopic positioning limit device (6) is located on the left side of the cable bundle (19) below the cable tightening spring (20); when the front portion (10) of the rotating L bracket is horizontal, the middle cable guide wheel (17) is higher than the rotating center cable guide wheel (16), and the upper cable guide wheel (18) is located above the middle cable guide wheel (17); the middle cable guide wheel (17), the upper cable guide wheel (18) and the fixing position are located in a straight line; The telescopic positioning limit device (6) is a proximity switch; and the rotation positioning limit device (7) is a proximity switch.

2. The automatic reading device for steel coil labels according to claim 1 is characterized in that: The rotating central axis (15) is fixed on the structural frame (1), and the rotating L bracket front part (10) is arranged on the rotating central axis (15) through at least one bearing (22).

3. The automatic reading device for steel coil labels according to claim 2 is characterized in that: There are two bearings (22), which are respectively arranged at the thickened parts on both sides of the front part (10) of the rotating L bracket to support the rotating L bracket (8) on the rotating central axis (15).

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