Wire rod coil automatic tag hanging system
By designing an automated wire coil tagging system, which utilizes robots to automatically identify and install hooks, the safety hazards associated with wire coil tagging have been solved. This system achieves fully automated operation, reducing the labor intensity and burn risk for operators.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-08-05
- Publication Date
- 2026-03-24
AI Technical Summary
The existing method of coiling and tagging wire poses safety hazards. Operators need to manually tag the wires in a high-temperature environment, which leads to a high risk of burns and high labor intensity.
Design an automatic labeling system for wire coils, including a coil support base, a hook making machine, a robot body, an actuator, a laser marking machine, and a label transfer device. The robot automatically identifies the labeling points and completes hook preparation, label printing, positioning, and hook installation, achieving fully automated operation.
The fully automated wire coiling and labeling operation has been achieved, which has improved safety, reduced the labor intensity and personal injury risk of operators, and enhanced the production safety index.
Smart Images
Figure CN115703143B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to an automatic label hanging system, in particular to an automatic label hanging system for wire coil, and belongs to the technical field of coil identification. BACKGROUND
[0002] At present, after the steel wire rod produced on site is wound into a coil, the coil is first transferred to a packing station through a hanging line, is automatically packed and bound by a plurality of steel wires or steel bands, and then is manually hung with a label. When the label is hung, an operator first takes a label and a hook, hangs the label on the hook, and then hangs the hook on the different packing steel wire or steel band at a distance of about 300 mm from the inner circle of the wire coil, so that the label is hung.
[0003] However, the wire coil still has a high temperature when being transferred to the label hanging station. The manual label hanging method has the following problems: on the one hand, the operator needs to walk in the coil line, and on the other hand, the hook needs to be inserted into the coil to find a suitable label hanging point on the packing steel wire or steel band, so that a great safety hazard is caused, and the operator is easily scalded. Therefore, it is urgent to provide a full-automatic wire coil label hanging system to improve the working environment of the operator, reduce the labor intensity, reduce the risk of personal injury of the operator, and improve the safety index on site. SUMMARY
[0004] The purpose of the application is to provide an automatic label hanging system for wire coil to realize full-automatic label hanging operation for wire coil.
[0005] Technical scheme: An automatic label hanging system for wire coil comprises a coil support seat, a hook making machine, a robot body, an executing mechanism, a laser marking machine and a label moving and loading device. The coil support seat, the hook making machine and the laser marking machine are arranged around the robot body. The coil support seat is used for placing the wire coil. The hook making machine is used for making the hook. The label moving and loading device is arranged at the outlet of the laser marking machine and is used for carrying and positioning the label output by the laser marking machine. The activity range of the robot body covers the label moving and loading device, the hook making machine and the wire coil.
[0006] The executing mechanism comprises a mounting rod, an image acquisition device and a hook clamping jaw. One end of the mounting rod is connected to the robot body, the other end is connected to the hook clamping jaw, and the middle part is fixed with the image acquisition device. The image acquisition device is used for identifying the label hanging point on the wire coil. The hook clamping jaw is used for taking the hook from the hook making machine, and the hook is used for penetrating the label from the label moving and loading device, and then the hook is hung on the wire coil.
[0007] The principle of this invention is as follows: First, a hook-making machine prepares the hooks, and a laser marking machine prints the labels. Then, a label transfer device transports the labels to a designated location. Next, the robot drives the hook grippers to the hook-making machine to retrieve the prepared hooks. Then, the robot drives the hook grippers to the label transfer device, where they pass the hooks through the labels, completing the installation and fixation of the labels and hooks. Finally, the robot drives the hooks with the labels installed to the wire coil, and an image acquisition device identifies suitable labeling points on the wire coil, ultimately attaching the hooks, thus completing the fully automated labeling operation for the wire coil.
[0008] Furthermore, the actuator includes multiple hook grippers arranged radially on the mounting rod to improve tagging efficiency and adapt to the tagging points of the coiled wire.
[0009] Furthermore, the system also includes a hook-retrieving mechanism, which comprises a rotating base, a first rotating cylinder, a telescopic cylinder, and hook-retrieving jaws. The rotating base is fixedly connected to the hook-making machine. The first rotating cylinder is fixed to the rotating base, and the telescopic cylinder is fixed to the first rotating cylinder. The output end of the telescopic cylinder is connected to the hook-retrieving jaws, which are aligned with the output end of the hook-making machine. In this structure, after the hook-making machine completes the hook preparation, the telescopic cylinder drives the hook-retrieving jaws to the output end of the hook-making machine, where they grip the hook and retract. The first rotating cylinder then drives the hook-retrieving jaws to turn to the other side, allowing for more convenient and precise hook gripping.
[0010] Preferably, the hook is formed by bending a piece of wire, with one end extending outward to form an outer leg and the other end converging inward to form a narrow leg. The narrow leg rests against the outer leg, and the angle between the narrow leg and the outer leg is an acute angle. In this structure, the outer leg is used to complete the label insertion and hanging operations, and the narrow leg is used to form a clamping point to prevent the label from falling off the hook.
[0011] Furthermore, the hook also includes a first positioning right angle, and the hook-retrieving claws include a hook-retrieving female claw, a hook-retrieving male claw, and a hook-retrieving cylinder. The hook-retrieving female claw and the hook-retrieving male claw are fixed on the hook-retrieving cylinder and mesh with each other under the drive of the hook-retrieving cylinder. The hook-retrieving cylinder is connected to the output end of the telescopic cylinder. A right-angle groove is provided on the meshing surface of the hook-retrieving female claw, and a right-angle protrusion is provided on the meshing surface of the hook-retrieving male claw. The right-angle groove and the right-angle protrusion are aligned with the first positioning right angle to accurately position and grip the hook.
[0012] Furthermore, the right-angle groove is T-shaped, including a horizontal groove and a vertical groove. Correspondingly, the right-angle protrusion is also T-shaped, including a horizontal protrusion and a vertical protrusion. The horizontal groove and the horizontal protrusion are aligned and matched, and the vertical groove and the vertical protrusion are aligned and matched. In this structure, the T-shaped structure forms a double right-angle groove on the mating surface, which can be quickly adjusted after the mating surface of the right-angle groove on one side is damaged, and the right-angle groove on the other side can be used, thus extending the service life.
[0013] Furthermore, the hook also includes a second positioning right angle, and the hook gripper includes a hook female claw, a hook male claw, and a hook cylinder. The hook female claw and hook male claw are fixed on the hook cylinder and mesh with each other under the drive of the hook cylinder. The hook cylinder is connected to the mounting rod. A female T-shaped groove is formed on the meshing surface of the hook female claw, and a male T-shaped groove is formed on the meshing surface of the hook male claw. The female T-shaped groove and male T-shaped groove are aligned with the second positioning right angle to accurately position and grip the hook.
[0014] Furthermore, the hook's female claw is provided with biting teeth on its biting surface, which are positioned opposite each other on both sides of the female T-shaped groove. The hook's male claw is also provided with a slot that aligns with the biting teeth on its biting surface, and the depth of the slot is greater than that of the male T-shaped groove, in order to enhance the hook's biting force.
[0015] Furthermore, the system also includes a hook detection mechanism, which comprises a second rotary cylinder, a connecting plate, and a proximity switch. The second rotary cylinder is fixed to the rotary base. One end of the connecting plate is fixed to the second rotary cylinder, and the other end is fixed to the proximity switch. The proximity switch is aligned with the retractable foot to detect whether the retraction degree of the retractable foot meets the requirements. If the retraction degree of the retractable foot does not meet the requirements after the hook-making machine completes the hook preparation, the label will fall off during labeling, greatly reducing the level of automation. In this structure, a hook detection mechanism is set at the output end of the hook-making machine. After the telescopic cylinder drives the hook-retrieving jaws to remove the hook from the output end of the hook-making machine and retracts, the second rotary cylinder drives the proximity switch through the connecting plate to reach the retracted hook-retrieving jaws and aligns to detect the outward expansion degree of the hook's retractable foot, thereby determining whether the hook is qualified. This greatly improves the level of automation and prevents the label from falling off the hook.
[0016] Furthermore, the sign transfer device includes a mounting base, a sliding plate, a limiting side plate, a side plate cylinder, a limiting bottom plate, and a bottom plate cylinder. The sliding plate is inclinedly disposed at the exit of the laser marking machine via the mounting base. The side plate cylinder and the bottom plate cylinder are disposed on the back of the sliding plate. The output end of the side plate cylinder is connected to the limiting side plate, and the output end of the bottom plate cylinder is connected to the limiting bottom plate. The limiting side plate is located on both sides of the lower end of the sliding plate and opens or clamps under the drive of the side plate cylinder, forming a lateral limiting of the sign on the sliding plate. The limiting bottom plate is located at the bottom end of the sliding plate and is raised or lowered under the drive of the bottom plate cylinder, forming a bottom limiting of the sign on the sliding plate.
[0017] Furthermore, the sign is provided with a hook hole, and the lower end of the slide plate has a side notch, which is aligned with the hook hole. In this structure, after the sign slides down the slide plate to the bottom, it is positioned by the limiting side plate and the limiting bottom plate. The hook hole of the sign is aligned with the side notch. At this time, the hook gripper drives the outer extension of the hook to pass through the hook hole and insert into the side notch to complete the assembly of the sign and the hook. At the same time, after the limiting side plate and the limiting bottom plate are released, the sign can be picked up directly.
[0018] Furthermore, the sign transfer device also includes a wear-resistant baffle. The wear-resistant baffle is Ω-shaped and extends along the outer edge of the side notch. The notch of the wear-resistant baffle is aligned with the hook hole of the sign. In this structure, the wear-resistant baffle, a vulnerable component, clamps the hook after it passes through the hook hole, improving positioning accuracy and facilitating maintenance.
[0019] Furthermore, the sign transfer device also includes a photoelectric sensor. The bottom end of the slide plate is provided with a bottom notch, and the photoelectric sensor is fixed in the bottom notch to detect whether the sign has slid into place along the slide plate.
[0020] Furthermore, the sign transfer device also includes a pressure plate base, a limiting pressure plate, and a pressure plate clamping cylinder. The pressure plate base is located on the side of the mounting base, and the pressure plate clamping cylinder is fixed on the pressure plate base. The limiting pressure plate is fork-shaped, with one end fixed to the pressure plate clamping cylinder and the other end having a side opening. The limiting pressure plate is aligned with the lower end of the sliding plate, and the side opening of the limiting pressure plate is aligned with the side notch of the sliding plate. In this structure, after the sign slides to the bottom along the sliding plate, the pressure plate clamping cylinder drives the limiting pressure plate to press onto the sign. The hook passes through the side opening of the limiting pressure plate, the hook hole of the sign, and the side notch of the sliding plate in sequence, completing the assembly of the hook and the sign, thereby completing the sign removal operation.
[0021] Furthermore, the sign transfer device also includes a pressure plate lateral movement cylinder, which is fixed on the pressure plate base and the pressure plate clamping cylinder is fixed on the pressure plate lateral movement cylinder to drive the limiting pressure plate to move laterally and leave the slide plate from the end fixed to the pressure plate clamping cylinder, which facilitates maintenance.
[0022] Furthermore, the side opening of the limiting pressure plate gradually narrows from the inside to the outside, and the gap at its outer edge is slightly larger than the outer diameter of the hook's extension. In this structure, after the hook passes through the side opening of the limiting pressure plate, the nameplate hook hole, and the slide plate side notch in sequence to complete the assembly of the hook and the nameplate, the limiting pressure plate moves away in the opposite direction under the drive of the pressure plate transverse movement cylinder to achieve precise self-positioning, facilitating the assembly of the hook and the nameplate.
[0023] Furthermore, the limiting side plate includes a left baffle and a right baffle, which are located on the left and right sides of the lower end of the skateboard, respectively. The right baffle is a split structure, including an upper baffle and a lower baffle, with the side notch sandwiched between the upper and lower baffles. The left baffle, upper baffle, and lower baffle are respectively connected to the side plate cylinder. In this structure, the split right baffle, sandwiched between the two sides of the side notch of the skateboard, not only limits the lateral positioning of the sign but also prevents the hook from being blocked and interfered with after passing through the side notch of the skateboard, thus improving safety.
[0024] Furthermore, the left baffle is located between the pressure plate clamping cylinder and the sliding plate, and is U-shaped with an opening at the top. The end of the limiting pressure plate fixed to the pressure plate clamping cylinder has a narrow opening, which engages with the upper opening of the left baffle. In this structure, through a compact design within a very small space, the left baffle and the limiting pressure plate do not interfere with each other, ensuring stability in use.
[0025] Furthermore, the sign transfer device also includes a limiting cover, which covers the upper part of the slide plate to prevent the sign from shifting during the sliding process and to prevent splashes from hitting the slide plate.
[0026] Beneficial effects: Compared with existing technologies, the advantages of this invention are: through the design of automatic positioning and hook retrieval, automatic positioning and tag retrieval, and automatic tag hanging, a fully automated wire coiling and tag hanging operation is achieved. Simultaneously, the design includes hook qualification detection and tag placement detection, further improving the degree of automation. Attached Figure Description
[0027] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0028] Figure 2 This is a schematic diagram of the hook structure;
[0029] Figure 3 A three-dimensional structural diagram of the location of the hook-making machine;
[0030] Figure 4 This is an enlarged schematic diagram of the proximity switch's detection status.
[0031] Figure 5 A three-dimensional structural diagram of the actuator;
[0032] Figure 6 A three-dimensional structural diagram of the hook claw;
[0033] Figure 7 A three-dimensional structural diagram of the hook claw;
[0034] Figure 8 This is a three-dimensional structural diagram of the hook-retrieving mechanism;
[0035] Figure 9 A three-dimensional structural diagram of the hook-shaped claw;
[0036] Figure 10 A three-dimensional structural diagram of the hook-shaped claw;
[0037] Figure 11 This is a three-dimensional structural diagram of the hook detection mechanism;
[0038] Figure 12 This is a 3D structural diagram of the skateboard's position.
[0039] Figure 13 for Figure 11 An enlarged view of position A in the middle;
[0040] Figure 14 for Figure 11 An enlarged view of position B in the middle. Detailed Implementation
[0041] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.
[0042] An automatic labeling system for wire coils, as shown in the attached document. Figures 1 to 3 As shown, it includes a coil support base 1, a hook making machine 2, a robot body 3, an actuator 4, a laser marking machine 5, a sign transfer device 6, a hook 7, a sign 8, a hook removal mechanism 9, and a hook detection mechanism 10.
[0043] In this embodiment, to facilitate operation and speed up the production cycle, as shown in the attached... Figure 1As shown, the coil support 1, hook-making machine 2, and laser marking machine 5 are arranged around the robot body 3. The coil support 1 and hook-making machine 2 are placed on opposite sides of the robot body 3, and the laser marking machine 5 is placed between the coil support 1 and hook-making machine 2. The coil support 1 is used to hold the wire coil 100, and the hook-making machine 2 is used to prepare the hook 7. The hook-taking mechanism 9 and the hook detection mechanism 10 are shown in the attached diagram. Figure 3 As shown, all are located at the output end of the hook-making machine 2, i.e., the hook outlet, and are used to remove the prepared hooks and check whether the hooks are qualified. The sign transfer device 6 is located at the outlet of the laser marking machine 5 and is used to carry and position the signs 8 output by the laser marking machine 5. The range of motion of the robot body 3 covers the sign transfer device 6, the hook-making machine 2, and the wire coil.
[0044] In this embodiment, the hook 7 prepared by the hook-making machine is shown in the attached figure. Figure 2 As shown, the hook is formed by bending a single wire into a rectangular shape. One end extends outward to form an outer leg 71, and the other end curves inward to form a converging leg 72. The converging leg 72 rests against the outer leg 71, and the angle between the converging leg 72 and the outer leg 71 is an acute angle. Furthermore, to facilitate subsequent clamping and positioning with the hook-retrieving mechanism 9 and the actuator 4, the hook is also equipped with a first positioning right angle 73 and a second positioning right angle 74. (See attached label 8.) Figure 13 As shown, it is also rectangular and has a hook hole 81.
[0045] In this embodiment, after the hook-making machine completes the hook preparation, it first removes the hook through the hook-removing mechanism, which can shorten the hook-removing stroke of the actuator and improve positioning accuracy.
[0046] Hook-retrieving mechanism 9 as shown in the attached document Figure 3 , 8 As shown, the system includes a rotating base 91, a first rotating cylinder 92, a telescopic cylinder 93, and a hook-retrieving gripper 94. The rotating base 91 is fixedly connected to the hook-making machine 2. The first rotating cylinder 92 is fixed on the rotating base 91, and the telescopic cylinder 93 is fixed on the first rotating cylinder 92. The output end of the telescopic cylinder 93 is connected to the hook-retrieving gripper 94, and the hook-retrieving gripper 94 is aligned with the output end of the hook-making machine 2. The hook-retrieving gripper 94 is shown in the attached figure. Figures 8 to 10As shown, it includes a hook-retrieving female claw 94a, a hook-retrieving male claw 94b, and a hook-retrieving cylinder 94c. The hook-retrieving female claw 94a and hook-retrieving male claw 94b are fixed on the hook-retrieving cylinder 94c and mesh with each other under the drive of the hook-retrieving cylinder 94c. The hook-retrieving cylinder 94c is connected to the output end of the telescopic cylinder 93. A right-angle groove 94d is provided on the meshing surface of the hook-retrieving female claw 94a, and a right-angle protrusion 94e is provided on the meshing surface of the hook-retrieving male claw 94b. The right-angle groove 94d and the right-angle protrusion 94e are aligned with the first positioning right angle 73. In this embodiment, specifically, the right-angle groove 94d is T-shaped, including a horizontal groove 94f and a vertical groove 94g. Correspondingly, the right-angle protrusion 94e is also T-shaped, including a horizontal protrusion 94h and a vertical protrusion 94i. The horizontal groove 94f and the horizontal protrusion 94h are aligned and matched, and the vertical groove 94g and the vertical protrusion 94i are aligned and matched, so that when the right-angle gripping part on one side is damaged, the right-angle gripping part on the other side can be quickly used, which is convenient and quick and improves the service life.
[0047] In this embodiment, after the hook removal mechanism removes the hook, the hook detection mechanism 10 checks whether the prepared hook is qualified.
[0048] 10 hook testing agencies are attached. Figure 3 As shown, the system includes a second rotary cylinder 10a, a connecting plate 10b, and a proximity switch 10c. The second rotary cylinder 10a is fixed on the rotary base 91. One end of the connecting plate 10b is fixedly connected to the second rotary cylinder 10a, and the other end is fixedly connected to the proximity switch 10c, as shown in the attached diagram. Figure 4 As shown, the proximity switch 10c is aligned with the collapsible foot 72.
[0049] In this embodiment, after the hook is removed, the hook-removing mechanism completes the positioning and clamping of the hook through the actuator 4:
[0050] Implementing agency 4 is attached. Figure 5 As shown, the device includes a mounting rod 41, an image acquisition device 42, and hook grippers 43. One end of the mounting rod 41 is connected to the robot body 3, the other end is connected to the hook grippers 43, and the image acquisition device 42 is fixed in the middle. The image acquisition device 42 is used to identify the tag points on the wire coil. The hook grippers 43 are used to remove the hook 7 from the hook-making machine 2, pass the hook 7 through the tag transfer device 6 to the tag 8, and then hang the hook 7 on the wire coil. In this embodiment, the actuator 4 includes multiple hook grippers 43, which are arranged radially on the mounting rod 41. The hook grippers 43 are shown in the attached figure. Figures 5 to 7As shown, the hook includes a female claw 43a, a male claw 43b, and a hook cylinder 43c. The female claw 43a and male claw 43b are fixed to the hook cylinder 43c and mesh with each other under the drive of the hook cylinder 43c. The hook cylinder 43c is connected to the mounting rod 41. A female T-groove 43d is formed on the meshing surface of the female claw 43a, and a male T-groove 43e is formed on the meshing surface of the male claw 43b. The female T-groove 43d and male T-groove 43e are aligned with the second positioning right angle 74. The meshing surface of the female claw 43a is also provided with a meshing tooth 43f, which is positioned opposite to the two sides of the female T-groove 43d. The meshing surface of the male claw 43b is also provided with a groove 43g that aligns with the meshing tooth 43f, and the depth of the groove 43g is greater than that of the male T-groove 43e.
[0051] In this embodiment, after the laser marking machine 5 completes the printing of the label, the label transfer device 6 automatically positions the label:
[0052] Signage transfer device 6 as attached Figures 11 to 14 As shown, it includes a mounting base 6a, a sliding plate 6b, a limiting side plate 6c, a side plate cylinder 6d, a limiting base plate 6e, a base plate cylinder 6f, a wear-resistant baffle 6g, a photoelectric sensor 6h, a pressure plate base 6i, a limiting pressure plate 6j, a pressure plate clamping cylinder 6k, a pressure plate transverse movement cylinder 6m, and a limiting guard 6n.
[0053] The slide plate 6b is tilted and mounted on the exit of the laser marking machine 5 via the mounting base 6a. A side plate cylinder 6d and a bottom plate cylinder 6f are mounted on the back of the slide plate 6b. A limiting cover 6n is installed on the upper part, a side notch 6b1 is opened at the lower end, and a bottom notch 6b2 is provided at the bottom end. The side notch 6b1 is aligned with the hook hole 81, and a photoelectric sensor 6h is fixed inside the bottom notch 6b2. The wear-resistant baffle 6g is Ω-shaped and extends along the outer edge of the side notch 6b1. The notch of the wear-resistant baffle 6g is aligned with the hook hole 81 of the nameplate 8.
[0054] The pressure plate base 6i is located to the side of the mounting base 6a. The pressure plate transverse movement cylinder 6m is fixed on the pressure plate base 6i, and the pressure plate clamping cylinder 6k is fixed on the pressure plate transverse movement cylinder 6m. The limiting pressure plate 6j is fork-shaped, with one end fixed on the pressure plate clamping cylinder 6k and the other end having a side opening 6j1. The limiting pressure plate 6j is aligned with the lower end of the slide plate 6b, and the side opening 6j1 of the limiting pressure plate 6j is aligned with the side notch 6b1 of the slide plate 6b. The side opening 6j1 of the limiting pressure plate 6j gradually narrows from the inside to the outside, and the gap at its outer edge is slightly larger than the diameter of the outer extension foot 71 of the hook 7.
[0055] The output end of the side plate cylinder 6d is connected to the limiting side plate 6c. The limiting side plate 6c is located on both sides of the lower end of the slide plate 6b and opens or clamps under the drive of the side plate cylinder 6d to form a lateral limit on the sign 8 on the slide plate 6b. Specifically, the limiting side plate 6c includes a left baffle 6c1 and a right baffle 6c2. The left baffle 6c1 and the right baffle 6c2 are located on the left and right sides of the lower end of the slide plate 6b, respectively. The right baffle 6c2 is a split structure, including an upper baffle 6c3 and a lower baffle 6c4. A side notch 6b1 is sandwiched between the upper baffle 6c3 and the lower baffle 6c4. The left baffle 6c1, the upper baffle 6c3 and the lower baffle 6c4 are respectively connected to the side plate cylinder 6d. The left baffle 6c1 is located between the pressure plate clamping cylinder 6k and the slide plate 6b. It is U-shaped with an opening at the top. The end of the limiting pressure plate 6j that is fixed on the pressure plate clamping cylinder 6k has a narrow opening 6j2, which is inserted into the upper opening of 6c1.
[0056] The output end of the base plate cylinder 6f is connected to the limiting base plate 6e. The limiting base plate 6e is located at the bottom of the slide plate 6b and is raised or lowered under the drive of the base plate cylinder 6f to form the bottom limit of the sign 8 on the slide plate 6b.
[0057] Furthermore, in this embodiment, the hook female claw 43a and hook male claw 43b of the hook gripper 43 can be interchanged with the hook removal female claw 94a and hook removal male claw 94b of the hook removal gripper 94, which is convenient and quick.
[0058] The automatic labeling system for wire coils in this embodiment includes the following stages: hook preparation, label preparation, hook removal, label removal, and label hanging.
[0059] First, in the hook preparation stage, after the hook is prepared by the hook-making machine, the telescopic cylinder 93 drives the hook-retrieving jaws 94 to retrieve the hook from the output end of the hook-making machine through the cooperation of the hook-retrieving female jaws 94a and 94b with the first positioning right angle 73. After retracting, the second rotary cylinder 10a drives the proximity switch 10c to rotate through the connecting plate 10b, approaching the retractable foot 72 of the hook 7 to check whether the retractable foot 72 of the prepared hook is qualified. After the test is qualified, the first rotary cylinder 92 drives the telescopic cylinder 93 to rotate, causing the hook-retrieving jaws 94 to rotate to the other side, completing the hook preparation.
[0060] Secondly, in the sign preparation stage, after the sign is printed by the laser marking machine 5, the sign slides along the slide plate 6b, passes through the limiting cover 6n and reaches the bottom of the slide plate 6b. After the photoelectric sensor 6h detects that the sign is in place, the bottom of the sign is limited by the raised limiting base plate 6e, the sides are limited by the clamping limiting side plates 6c, and the top is pressed by the limiting pressure plate 6, thus completing the sign preparation.
[0061] Subsequently, during the hook removal phase, the robot body drives the hook gripper 43 to approach the hook removal gripper 94. Through the cooperation of the hook female gripper 43a, the hook male gripper 43b and the second positioning right angle 74, the hook is gripped from the hook removal gripper 94, and the hook removal gripper 94 is released, thus completing the hook removal operation of the hook gripper 43.
[0062] Next, during the label retrieval stage, the robot body drives the hook gripper 43 to approach the limiting pressure plate 6j, and uses the outer extension foot 71 of the hook 7 to pass through the side opening 6j1 of the limiting pressure plate 6j, the hook hole 81 of the label 8, and the notch of the wear-resistant stop strip 6g in the side notch 6b1 in sequence to complete the assembly of the hook and the label. At this time, the pressure plate clamping cylinder 6k, the pressure plate transverse movement cylinder 6m, the side plate cylinder 6d, and the bottom plate cylinder 6f respectively control the limiting pressure plate 6j, the limiting side plate 6c, and the limiting bottom plate 6e to move away, exposing the label. The robot body then drives the hook gripper 43 to move out, completing the label retrieval operation.
[0063] Finally, the robot body drives the hook gripper 43 to reach the wire coil, inserts the hook 7 into the wire coil, and after the image acquisition device 42 identifies the tagging point on the steel strip inside the wire coil, the robot body drives the hook gripper 43 to complete the tagging operation at the corresponding position, thus completing the entire automated tagging of the wire coil.
Claims
1. An automatic labeling system for coiled wire, characterized in that: The system includes a coil support base (1), a hook-making machine (2), a robot body (3), an actuator (4), a laser marking machine (5), and a sign transfer device (6). The coil support base (1), the hook-making machine (2), and the laser marking machine (5) are arranged around the robot body (3). The coil support base (1) is used to hold the coiled wire, the hook-making machine (2) is used to make hooks (7), and the sign transfer device (6) is located at the outlet of the laser marking machine (5) to carry and position the signs (8) output by the laser marking machine (5). The range of motion of the robot body (3) covers the sign transfer device (6) and the hook-making machine. Machine (2), wire coil; the actuator (4) includes a mounting rod (41), an image acquisition device (42), and a hook gripper (43). One end of the mounting rod (41) is connected to the robot body (3), the other end is connected to the hook gripper (43), and the image acquisition device (42) is fixed in the middle. The image acquisition device (42) is used to identify the tag points on the wire coil. The hook gripper (43) is used to remove the hook (7) from the hook making machine (2), and use the hook (7) to pass through the tag (8) from the tag transfer device (6), and then hang the hook (7) on the wire coil. It also includes a hook-retrieving mechanism (9), which includes a rotating base (91), a first rotating cylinder (92), a telescopic cylinder (93), and a hook-retrieving gripper (94). The rotating base (91) is fixedly connected to the hook-making machine (2). The first rotating cylinder (92) is fixed on the rotating base (91). The telescopic cylinder (93) is fixed on the first rotating cylinder (92). The output end of the telescopic cylinder (93) is connected to the hook-retrieving gripper (94). The hook-retrieving gripper (94) is aligned with the output end of the hook-making machine (2). The hook (7) is formed by bending a wire, with one end extending outward to form an outer leg (71) and the other end enclosing inward to form a closing leg (72). The closing leg (72) abuts against the outer leg (71), and the angle between the closing leg (72) and the outer leg (71) is an acute angle. The hook also includes a first positioning right angle (73). The hook-retrieving claw (94) includes a hook-retrieving female claw (94a), a hook-retrieving male claw (94b), and a hook-retrieving cylinder (94c). The hook-retrieving female claw (94a) and hook-retrieving male claw (94b) are fixed on the hook-retrieving cylinder (94c) and mesh with each other under the drive of the hook-retrieving cylinder (94c). The hook-retrieving cylinder (94c) is connected to the output end of the telescopic cylinder (93). A right-angle groove (94d) is provided on the meshing surface of the hook-retrieving female claw (94a), and a right-angle protrusion (94e) is provided on the meshing surface of the hook-retrieving male claw (94b). The right-angle groove (94d) and the right-angle protrusion (94e) are aligned with the first positioning right angle (73).
2. The automatic labeling system for wire coils according to claim 1, characterized in that: The actuator (4) includes a plurality of hook grippers (43), which are arranged radially on the mounting rod (41).
3. The automatic labeling system for wire coils according to claim 1, characterized in that: The right-angle groove (94d) is T-shaped and includes a horizontal groove (94f) and a vertical groove (94g). Correspondingly, the right-angle protrusion (94e) is also T-shaped and includes a horizontal protrusion (94h) and a vertical protrusion (94i). The horizontal groove (94f) and the horizontal protrusion (94h) are aligned and matched, and the vertical groove (94g) and the vertical protrusion (94i) are aligned and matched.
4. The automatic labeling system for wire coils according to claim 1, characterized in that: The hook also includes a second positioning right angle (74). The hook gripper (43) includes a hook female claw (43a), a hook male claw (43b), and a hook cylinder (43c). The hook female claw (43a) and hook male claw (43b) are fixed on the hook cylinder (43c) and mesh with each other under the drive of the hook cylinder (43c). The hook cylinder (43c) is connected to the mounting rod (41). A female T-shaped groove (43d) is provided on the meshing surface of the hook female claw (43a), and a male T-shaped groove (43e) is provided on the meshing surface of the hook male claw (43b). The female T-shaped groove (43d) and male T-shaped groove (43e) are aligned with the second positioning right angle (74).
5. The automatic labeling system for wire coils according to claim 4, characterized in that: The hook female claw (43a) is also provided with a biting tooth (43f) on its biting surface. The biting tooth (43f) is disposed opposite to both sides of the female T-shaped groove (43d). The hook male claw (43b) is also provided with a slot (43g) that aligns with the biting tooth (43f) on its biting surface. The depth of the slot (43g) is greater than that of the male T-shaped groove (43e).
6. The automatic labeling system for wire coils according to claim 1, characterized in that: It also includes a hook detection mechanism (10), which includes a second rotary cylinder (10a), a connecting plate (10b), and a proximity switch (10c). The second rotary cylinder (10a) is fixed on the rotary base (91). One end of the connecting plate (10b) is fixed to the second rotary cylinder (10a), and the other end is fixed to the proximity switch (10c). The proximity switch (10c) is aligned with the folding foot (72).
7. The automatic labeling system for wire coils according to claim 1, characterized in that: The sign transfer device (6) includes a mounting base (6a), a sliding plate (6b), a limiting side plate (6c), a side plate cylinder (6d), a limiting base plate (6e), and a base plate cylinder (6f). The sliding plate (6b) is inclinedly disposed at the outlet of the laser marking machine (5) via the mounting base (6a). The side plate cylinder (6d) and the base plate cylinder (6f) are disposed on the back of the sliding plate (6b). The output end of the side plate cylinder (6d) is connected to the limiting side plate (6c), and the base plate... The output end of the cylinder (6f) is connected to the limiting base plate (6e). The limiting side plate (6c) is located on both sides of the lower end of the slide plate (6b) and opens or clamps under the drive of the side plate cylinder (6d) to form a lateral limiting of the sign (8) on the slide plate (6b). The limiting base plate (6e) is located at the bottom end of the slide plate (6b) and is raised or lowered under the drive of the base plate cylinder (6f) to form a bottom limiting of the sign (8) on the slide plate (6b).
8. The automatic labeling system for wire coils according to claim 7, characterized in that: The sign (8) is provided with a hook hole (81), and the lower end of the slide plate (6b) is provided with a side notch (6b1), which is aligned with the hook hole (81).
9. The automatic labeling system for wire coils according to claim 8, characterized in that: The sign transfer device (6) also includes a wear-resistant baffle (6g), which is Ω-shaped and is set along the outer edge of the side notch (6b1). The notch of the wear-resistant baffle (6g) is aligned with the hook hole (81) of the sign (8).
10. The automatic labeling system for wire coils according to claim 8, characterized in that: The signage transfer device (6) also includes a photoelectric sensor (6h), and the bottom end of the slide plate (6b) is provided with a bottom notch (6b2), in which the photoelectric sensor (6h) is fixed.
11. The automatic labeling system for wire coils according to claim 8, characterized in that: The sign transfer device (6) further includes a pressure plate base (6i), a limiting pressure plate (6j), and a pressure plate clamping cylinder (6k). The pressure plate base (6i) is located on the side of the mounting base (6a). The pressure plate clamping cylinder (6k) is fixed on the pressure plate base (6i). The limiting pressure plate (6j) is fork-shaped, with one end fixed on the pressure plate clamping cylinder (6k) and the other end having a side opening (6j1). The limiting pressure plate (6j) is aligned with the lower end of the sliding plate (6b), and the side opening (6j1) of the limiting pressure plate (6j) is aligned with the side notch (6b1) of the sliding plate (6b).
12. The automatic labeling system for wire coils according to claim 11, characterized in that: The signage transfer device (6) also includes a pressure plate transverse movement cylinder (6m), which is fixed on the pressure plate base (6i) and the pressure plate clamping cylinder (6k) is fixed on the pressure plate transverse movement cylinder (6m).
13. The automatic labeling system for wire coils according to claim 11, characterized in that: The side opening (6j1) of the limiting pressure plate (6j) gradually narrows from the inside to the outside, and the gap at its outer edge is slightly larger than the diameter of the outer extension foot (71) of the hook (7).
14. The automatic labeling system for wire coils according to claim 11, characterized in that: The limiting side plate (6c) includes a left baffle (6c1) and a right baffle (6c2). The left baffle (6c1) and the right baffle (6c2) are located on the left and right sides of the lower end of the slide plate (6b), respectively. The right baffle (6c2) is a split structure, including an upper baffle (6c3) and a lower baffle (6c4). The side notch (6b1) is sandwiched between the upper baffle (6c3) and the lower baffle (6c4). The left baffle (6c1), the upper baffle (6c3) and the lower baffle (6c4) are respectively connected to the side plate cylinder (6d).
15. The automatic labeling system for wire coils according to claim 14, characterized in that: The left baffle (6c1) is located between the pressure plate clamping cylinder (6k) and the slide plate (6b), and is U-shaped with an opening at the top. The limiting pressure plate (6j) is fixed on the pressure plate clamping cylinder (6k) at one end and has a narrow opening (6j2). The narrow opening (6j2) is inserted into the upper opening of the left baffle (6c1).
16. The automatic labeling system for wire coils according to claim 7, characterized in that: The sign transfer device (6) also includes a limiting cover (6n), which covers the upper part of the sliding plate (6b).
Citation Information
Patent Citations
Wire label-hanging device and method
CN111056107A
Automatic label hanging system for wire coil
CN215237495U