Robotic labeling system and method

Abstract

The application provides a robot label hanging system and method, comprising a robot body, an automatic label hanging device, a label printer and a control cabinet assembly; the automatic label hanging device is installed at the end of the robot body, and comprises a linear power execution mechanism, a loop gun lock head and a label guide needle; the linear power execution mechanism is used for driving the loop gun lock head and the label guide needle to move towards each other or away from each other, and the loop gun lock head and the label guide needle are respectively fixed with two ends of a label loop; the linear power execution mechanism can drive the loop gun lock head and the label guide needle to move to a locking position, and the two ends of the label loop are in contact and locked. The application can be used for automatic label hanging operation of high wire coils, and can automatically hang the wire label on the coil binding belt, thereby reducing the labor cost and improving the operation efficiency; the label is hung through a closed loop, and the label can be taken out only when the loop is damaged, thereby avoiding manual replacement of the label and having the anti-fake function.

Description

Technical Field

[0001] This invention relates to the field of steel wire rod production technology, specifically to a robot tagging system and method. Background Technology

[0002] Currently, the steel wire produced on-site is wound into coils and then transported to the packaging station via a suspended assembly line. There, multiple strands of steel wire or steel strip are automatically threaded through and bundled. Finally, manual operation is used to attach tags to the current coil. To attach the tags, the operator first takes a tag and a paperclip hook, hangs the tag on the hook, and then suspends the hook onto the coil's binding strap, thus completing the tagging process.

[0003] However, this manual tagging method requires operators to continuously print, thread, and hang tags, which is labor-intensive. Furthermore, because the hooks use paper clips or other open structures, the tags can be removed or replaced, which is not conducive to the anti-counterfeiting of the thread rolls.

[0004] Patent document CN109466841B discloses an automatic label-attaching system, including a robotic arm, a hook-picking device, a positioning device, a wire conveying device, a label-collecting device, and a control device. The wire conveying device is used to deliver the wire to be labeled. The label-collecting device is used to pick up the label and move it to the hook-picking position. The hook-picking device is used to clamp the hook and hang the label on the hook. The robotic arm is used to hang the hook with the label on the wire. The control device is connected to the robotic arm, hook-picking device, positioning device, wire conveying device, and label-collecting device respectively. The positioning device is used to obtain the position information of the wire to be labeled. The control device is used to control the connected actions of the robotic arm, hook-picking device, wire conveying device, and label-collecting device according to the position information obtained by the positioning device. However, the labeling system uses open hooks. Its working principle is to first hang the label on the hook, and then hang the hook with the label on the wire. After the labeling is finished, the label can be easily removed or replaced from the open hook, which poses a risk of the label being replaced by someone and does not have anti-counterfeiting function. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a robot tagging system and method.

[0006] The robot tagging system and method provided by the present invention include a robot body, an automatic tagging device, a tag printer, and a control cabinet assembly;

[0007] The automatic tagging device is installed at the end of the robot body, and the tag printer, robot body and automatic tagging device are all electrically connected to the control cabinet assembly.

[0008] The automatic tagging device includes a linear power actuator, a collar gun locking head hinged to the actuator end of the linear power actuator, and a tag guide pin installed on the actuator end of the linear power actuator.

[0009] The linear power actuator is used to drive the collar gun locking head and the sign guide pin to move toward or away from each other, respectively. The collar gun locking head and the sign guide pin are respectively fixed with the two ends of the hanging collar.

[0010] Initial state: The actuator end of the linear power actuator is in the first position, the collar gun locking head and the nameplate guide pin are both in the initial position, and the two ends of the nameplate collar are separated;

[0011] Locking state: The actuator end of the linear power actuator is in the second position, the locking head of the collar gun and the nameplate guide pin are both in the locking position, and the two ends of the hanging collar are in contact and locked.

[0012] Preferably, the tag-hanging device body of the automatic tag-hanging device is installed at the end of the robot body;

[0013] The linear power actuator is fixedly installed between itself and the tag-hanging device body. The collar gun locking head is installed on the tag-hanging device body via a connecting rod. The end of the connecting rod is rotatably connected to the tag-hanging device body, and the middle section of the connecting rod is hinged to the execution end of the linear power actuator.

[0014] Preferably, the automatic tag-hanging device has a tag-hanging device body with a tag-hanging device body having a tag head guide groove and a tag tail guide groove for respectively engaging the first and last ends of the tag.

[0015] The collar gun locking head is provided with a collar head locking position. When the collar gun locking head is in the initial position, the collar head locking position corresponds to the end of the collar head guide groove.

[0016] The end of the label guide pin is provided with a collar tail end locking position, and the middle part of the label guide pin is the label hanging part. When the label guide pin is in the initial position, the collar tail end locking position corresponds to the end of the collar tail end guide groove.

[0017] Preferably, when both the collar gun locking head and the label guide pin are in the locking position, a collar locking position is formed between the collar head locking position and the collar tail locking position.

[0018] Preferably, both the linear power actuator and the tag-hanging device body are fixedly installed at the end of the robot body, and a paddle is provided on the execution end of the linear power actuator;

[0019] One end of the lever is connected to the actuating end of the linear power actuator, and the other end of the lever is hinged to the middle section of the connecting rod.

[0020] Preferably, it also includes a laser scanning device, which is installed on the tag-hanging device body of the automatic tag-hanging device;

[0021] The laser scanning device communicates with the control cabinet assembly via a first cable.

[0022] Preferably, the linear power actuator includes a cylinder assembly, which includes a cylinder body, a rod chamber air pipe, and a rodless chamber air pipe;

[0023] The piston rod end of the cylinder body is hinged to the collar gun locking head, and the rod chamber and rodless chamber of the cylinder body are respectively connected to an external air source through the rod chamber air pipe and the rodless chamber air pipe.

[0024] Preferably, the internal air passage of the robot body is connected to an external air source through a first air pipe, and the cylinder assembly is connected to the internal air passage of the robot body through a second air pipe.

[0025] A control valve is also provided between the second air pipe and the cylinder assembly.

[0026] Preferably, the linear power actuator is connected to the control cabinet assembly via a control cable, the sign printer is connected to the control cabinet assembly via a second cable, and the control cabinet assembly is connected to an external power source via a third cable.

[0027] According to the robot tagging method provided by the present invention, the robot tagging system includes the following steps:

[0028] Step 1: The control cabinet assembly receives external signage information and controls the signage printer to print the signage information onto the signage according to the preset program;

[0029] Step 2: The control cabinet assembly controls the robot body to remove the sign located at the sign printer outlet and hang the sign on the sign guide pin;

[0030] Step 3: The robot moves the label to one side of the bundle of wires that needs to be labeled, and scans it with a laser scanning device to select the labeling position;

[0031] Step 4: After the tag placement position is selected, the control cabinet assembly sends a locking action command to the automatic tag placement device, and the locking head of the collar gun and the tag guide pin move from the initial position to the locking position;

[0032] At this point, the label guide pin moves to the bottom of the bundle of wires that needs to be labeled. The two ends of the single label loop are locked together by the locking head of the loop gun and the label guide pin, thus hanging the label on the bundle and completing the automatic label hanging operation.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] This invention has a simple structure and is easy to operate. It can be used for automatic tagging of high-strength wire coils. The robot automatically attaches the wire labels to the coil straps, which can realize automated operation, reduce labor costs and improve work efficiency. At the same time, it adopts a closed ring for tagging. The wire label can only be removed when the ring is broken, avoiding manual replacement of labels and providing anti-counterfeiting function. Attached Figure Description

[0035] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the automatic tagging device in this invention;

[0038] Figure 3 This is a schematic diagram of the assembly of the robot body and the automatic tagging device in this invention;

[0039] Figure 4 This is a schematic diagram of the automatic tagging device in this invention from a frontal viewing angle;

[0040] Figure 5 This is a schematic diagram of the automatic tagging device in this invention;

[0041] Figure 6 This is a schematic diagram showing the positional relationship between the device and the bundled wires when the device is labeled.

[0042] Figure 7 This is a schematic diagram of the structure of bundled wires that require labels in this invention.

[0043] The diagram shows:

[0044] Robot body 101 Second cable 116

[0045] Automatic tagging device 102 Third cable 117

[0046] Signage printer 103, signage guide pin 118

[0047] Control cabinet assembly 104, cylinder assembly 119

[0048] Bracket 105, Ring Gun Lock Head 120

[0049] Laser scanning device 106 Control valve 121

[0050] 107 fixing bolts; 122 bundles of wire requiring labels.

[0051] 108 Fixing nut; 123 Single tag collar

[0052] First bolt 109, label 124

[0053] Second bolt 110, cable tie 125

[0054] Third bolt 111, collar 127

[0055] First cable 112, pull tab 129

[0056] Control cable 113, cylinder piston rod 130

[0057] First trachea 114, rod-shaped trachea 131

[0058] Second trachea 115 Rodless trachea 132 Detailed Implementation

[0059] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0060] This invention discloses a robotic tagging system and method for automatically tagging high-strength wire coils. By using a closed loop to automatically attach the wire label to the coil's binding strap, labor intensity is reduced, and the label can only be removed when the loop is broken, avoiding manual label replacement and providing anti-counterfeiting functionality.

[0061] According to the robot tagging system provided by the present invention, such as Figure 1-6 As shown, it includes a robot body 101, an automatic tag-hanging device 102, a tag printer 103, and a control cabinet assembly 104; the automatic tag-hanging device 102 is installed at the end of the robot body 101, and the tag printer 103, the robot body 101, and the automatic tag-hanging device 102 are all electrically connected to the control cabinet assembly 104.

[0062] The automatic tag-hanging device 102 includes a linear power actuator, a collar gun locking head 120 hinged to the actuator end of the linear power actuator, and a tag guide pin 118 mounted on the actuator end of the linear power actuator; the linear power actuator is used to drive the collar gun locking head 120 and the tag guide pin 118 to move toward or away from each other, and the collar gun locking head 120 and the tag guide pin 118 are respectively fixed with the two ends of the tag-hanging collar;

[0063] When the automatic tagging device 102 is in the initial state: the execution end of the linear power actuator is in the first position, the locking head 120 of the thimble gun and the tag guide pin 118 are both in the initial position, and the two ends of the tagging thimble are separated; when the automatic tagging device 102 is in the locking state: the execution end of the linear power actuator is in the second position, the locking head 120 of the thimble gun and the tag guide pin 118 are both in the locking position, and the two ends of the tagging thimble are in contact and locked.

[0064] like Figure 2-4 As shown, the automatic tag-hanging device 102 has a tag-hanging device body mounted at the end of the robot body 101; the linear power actuator is fixedly disposed between the tag-hanging device body and the tag-hanging device body; the collar gun locking head 120 is mounted on the tag-hanging device body via a connecting rod; the end of the connecting rod is rotatably connected to the tag-hanging device body, and the middle section of the connecting rod is hinged to the execution end of the linear power actuator. Preferably, both the linear power actuator and the tag-hanging device body are fixedly mounted at the end of the robot body 101; a lever 129 is provided on the execution end of the linear power actuator; one end of the lever 129 is connected to the execution end of the linear power actuator, and the other end of the lever 129 is hinged to the middle section of the connecting rod.

[0065] Driven by the linear power actuator, the connecting rod can rotate around its axis, thereby driving the collar gun locking head 120 to rotate from the initial position to the collar locking position. The label guide pin 118 moves in a straight line under the drive of the linear power actuator. When both the collar gun locking head 120 and the label guide pin 118 are in the locking position, the collar head locking position and the collar tail locking position correspond to each other and form the collar locking position.

[0066] One end of a single collar is raised, and the other end is recessed, forming a locking structure at both ends, such as... Figure 7 As shown, one end of the single collar is locked onto the label guide pin 118, and the other end is locked onto the collar gun locking head 120. Under the push of the label guide pin 118 and the collar gun locking head 120, the collar gun locking head 120 moves from the initial position to the collar locking position, locking the two ends of the single collar together and completing the locking action.

[0067] like Figure 5 As shown, the automatic tag-hanging device 102 has a tag-hanging device body with a ring head guide groove and a ring tail guide groove for engaging the head and tail ends of the ring row 127, respectively; the ring gun locking head 120 is provided with a ring head engaging position, and when the ring gun locking head 120 is in the initial position, the ring head engaging position corresponds to the end of the ring head guide groove; the end of the label guide pin 118 is provided with a ring tail engaging position, and the middle part of the label guide pin 118 is the label hanging part, and when the label guide pin 118 is in the initial position, the ring tail engaging position corresponds to the end of the ring tail guide groove.

[0068] Preferably, the linear power actuator includes a cylinder assembly 119, which includes a cylinder body, a rod chamber air pipe 131, and a rodless chamber air pipe 132. The piston rod 130 of the cylinder body is hinged to the collar gun locking head 120. The rod chamber and rodless chamber of the cylinder body are respectively connected to an external air source through the rod chamber air pipe 131 and the rodless chamber air pipe 132. The internal air passage of the robot body 101 is connected to an external air source through a first air pipe 114, and the cylinder assembly 119 is connected to the internal air passage of the robot body 101 through a second air pipe 115. A control valve 121 is also provided between the second air pipe 115 and the cylinder assembly 119.

[0069] The piston rod 130 of the cylinder in the automatic tag-attaching device 102 can extend or retract under the pressure of the air in the rod chamber air pipe 131 and the rodless chamber air pipe 132. The piston rod 130 is fixedly connected to the pull tab 129, which is hinged to the collar gun locking head 120. When the piston rod extends, it pushes the collar gun locking head 120 from the initial position to the collar locking position. There are multiple single collars connected on the collar row 127. One end of the single collar is locked on the tag guide pin 118, which is mounted on the pull tab 129. The other end is locked on the collar gun locking head 120. Under the push of the piston rod 130, the pull tab 129 and the collar gun locking head 120 lock the two ends of the single collar together, completing the locking action.

[0070] The robot tagging system also includes a laser scanning device 106, which is mounted on the tagging device body of the automatic tagging device 102. The laser scanning device 106 communicates with the control cabinet assembly 104 via a first cable 112. The linear power actuator is connected to the control cabinet assembly 104 via a control cable 113, and the sign printer 103 is connected to the control cabinet assembly 104 via a second cable 116. The control cabinet assembly 104 is connected to an external power source via a third cable 117.

[0071] According to the robot tagging method provided by the present invention, the robot tagging system includes the following steps:

[0072] Step 1: The control cabinet assembly 104 receives external sign information and controls the sign printer 103 to print the sign information onto the sign 124 according to the preset program;

[0073] Step 2: The control cabinet assembly 104 controls the robot body 101 to take out the sign 124 located at the exit of the sign printer 103, and hang the sign 124 on the sign guide pin 118;

[0074] Step 3: The robot body 101 moves the label 124 to one side of the bundle of wires 122 that needs to be labeled, and scans it with the laser scanning device 106 to select the labeling position;

[0075] Step 4: After the tag hanging position is selected, the control cabinet assembly 104 sends a locking action command to the automatic tag hanging device 102. The locking head 120 of the ring gun and the tag guide pin 118 both move from the initial position to the locking position. At this time, the tag guide pin 118 moves to the bottom of the strapping 125 of the bundled wire 122 to which the tag needs to be hung. The two ends of the single tag hanging ring 123 are locked under the action of the locking head 120 of the ring gun and the tag guide pin 118, hanging the tag 124 on the strapping 125, completing the automatic tag hanging work.

[0076] Example 1

[0077] This embodiment discloses a robot tagging system, which mainly consists of a robot body 101, an automatic tagging device 102, a tag printer 103, a control cabinet assembly 104, a bracket 105, and a laser scanning device 106. The bracket 105 is fixed to its installation position using fixing bolts 107 and fixing nuts 108; the tag printer 103 and the control cabinet assembly 104 are respectively fixed to their installation positions. The robot body 101 is fixed to the bracket 105 by the first bolt 109; the laser scanning device 106 is connected to the automatic tagging device 102 by the second bolt 110 and fixed to the robot body 101 by the third bolt 111; the laser scanning device 106 is powered by the first cable 112 and communicates with the control cabinet assembly 104; the automatic tagging device 102 communicates with the control cabinet assembly 104 by the control cable 113; the external air source enters the robot's internal pipeline through the first air pipe 114 and is connected to the control valve 121 of the automatic tagging device 102 by the second air pipe 115; the label printer 103 is connected to the control cabinet assembly 104 by the second cable 116 and is powered to enable communication between them; the control cabinet assembly 104 is powered by the third cable 117 and communicates with the outside.

[0078] Example 2

[0079] This embodiment discloses a robot tagging method, including the following steps: When the control cabinet assembly 104 receives external tag information, the tag printer 103 prints the tag information onto the tag 124 according to a set program; the robot body 101 takes out the tag 124 from the output of the tag printer 103 according to the program and hangs it on the tag guide pin 118 of the automatic tagging device 102. The tapered protrusion on the tag guide pin 118 can prevent the tag from falling off. After the robot body 101 moves the tag 124 to the corresponding position according to the program, it is scanned by the laser scanning device 106 and the tagging position is automatically selected (when the tag is hung on the outside of the bundle of yarn that needs to be tagged, the program selects tagging position 1; when the tag is hung inside the bundle of yarn that needs to be tagged, the program selects tagging position 2), and automatically issues a locking action command.

[0080] Before the tag is attached, the thimble gun locking head 120 of the automatic tag attaching device 102 is in the initial position. The robot inserts the tag guide pin 118 under the strapping 125. Driven by the cylinder, the thimble gun locking head 120 moves to the thimble locking position, connecting the two ends of the single thimble and attaching the tag on the tag guide pin 118 to the strapping 125. Then, driven by the cylinder, the thimble gun locking head 120 of the automatic tag attaching device 102 returns to the initial position, and the robot moves the automatic tag attaching device 102 away from the tag attaching position, completing the tag attaching action of the strapping 125.

[0081] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0082] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A robotic placarding system, characterized by, It comprises a robot body (101), an automatic sign hanging device (102), a sign printer (103) and a control cabinet assembly (104); The automatic sign hanging device (102) is installed at the end of the robot body (101), and the sign printer (103), the robot body (101) and the automatic sign hanging device (102) are electrically connected with the control cabinet assembly (104); The automatic sign hanging device (102) comprises a linear power actuator, a loop gun lock head (120) hinged to the execution end of the linear power actuator and a sign guide needle (118) installed on the execution end of the linear power actuator; The linear power actuator is used to drive the loop gun lock head (120) and the sign guide needle (118) to move towards each other or away from each other, and the loop gun lock head (120) and the sign guide needle (118) are respectively fixed with two ends of a sign hanging loop. Initial state: the execution end of the linear power actuator is in a first position, the loop gun lock head (120) and the sign guide needle (118) are both in an initial position, and the two ends of the sign hanging loop are separated. Locking state: the execution end of the linear power actuator is in a second position, the loop gun lock head (120) and the sign guide needle (118) are both in a locking position, and the two ends of the sign hanging loop are in contact and locked. The sign hanging device body of the automatic sign hanging device (102) is installed at the end of the robot body (101); The linear power actuator and the sign hanging device body are fixedly arranged, the loop gun lock head (120) is installed on the sign hanging device body through a connecting rod, the end of the connecting rod is rotatably connected with the sign hanging device body, and the middle section of the connecting rod is hinged to the execution end of the linear power actuator. The sign hanging device body of the automatic sign hanging device (102) is provided with a loop head guide groove and a loop tail guide groove for clamping the head and tail of a loop row (127) respectively; The loop gun lock head (120) is provided with a loop head clamping position, and when the loop gun lock head (120) is in the initial position, the loop head clamping position corresponds to the end of the loop head guide groove. The end of the sign guide needle (118) is provided with a loop tail clamping position, the middle part of the sign guide needle (118) is a sign hanging part, and when the sign guide needle (118) is in the initial position, the loop tail clamping position corresponds to the end of the loop tail guide groove. The linear power actuator comprises a cylinder assembly (119), and the cylinder assembly (119) comprises a cylinder body, a rod cavity gas pipe (131) and a rodless cavity gas pipe (132). The cylinder piston rod (130) end of the cylinder body is hinged to the loop gun lock head (120), and the rod cavity and the rodless cavity of the cylinder body are connected with an external gas source through the rod cavity gas pipe (131) and the rodless cavity gas pipe (132) respectively.

2. The robotic kitting system of claim 1, wherein, When the collar gun lock head (120) and the label guide needle (118) are both in the locked position, the collar front end clamping position and the collar tail end clamping position form a collar locking position.

3. The robotic kiting system of claim 1, wherein, The linear power actuator and the label hanging device body are fixedly installed at the tail end of the robot body (101), and a push piece (129) is arranged on the execution end of the linear power actuator; One end of the push piece (129) is connected with the execution end of the linear power actuator, and the other end of the push piece (129) is hingedly connected with the middle segment of the connecting rod.

4. The robotic kiting system of claim 1, wherein, The laser scanning device (106) is installed on the label hanging device body of the automatic label hanging device (102); The laser scanning device (106) controls and communicates with the control cabinet assembly (104) through the first cable (112).

5. The robotic kiting system of claim 1, wherein, The internal gas circuit of the robot body (101) is connected with an external gas source through a first gas pipe (114), and the gas cylinder assembly (119) is connected with the internal gas circuit of the robot body (101) through a second gas pipe (115); A control valve (121) is further arranged between the second gas pipe (115) and the gas cylinder assembly (119).

6. The robotic kiting system of claim 1, wherein, The linear power actuator is connected with the control cabinet assembly (104) through a control cable (113), the label printer (103) is connected with the control cabinet assembly (104) through a second cable (116), and the control cabinet assembly (104) is connected with an external power source through a third cable (117).

7. A method of robotically placing a ticket, the method comprising: The robot label hanging system of any one of claims 1-6, characterized by comprising the following steps: Step 1: The control cabinet assembly (104) receives external label information, and controls the label printer (103) to print the label information on the label (124) according to a preset program; Step 2: The control cabinet assembly (104) controls the robot body (101) to take out the label (124) at the outlet of the label printer (103), and the label (124) is hung on the label guide needle (118); Step 3: The robot body (101) moves the label (124) to one side of the bundled wire (122) to which the label needs to be hung, and scans by the laser scanning device (106) to select a label hanging position; Step 4: After the label hanging position is selected, the control cabinet assembly (104) sends a locking action instruction to the automatic label hanging device (102), and the collar gun lock head (120) and the label guide needle (118) are both moved from the initial position to the locked position; At this time, the label guide needle (118) moves to the lower side of the bundling belt (125) of the bundled wire (122) to which the label needs to be hung, and the first end and the second end of the single label hanging collar (123) are locked under the driving of the collar gun lock head (120) and the label guide needle (118), so that the label (124) is hung on the bundling belt (125), and the automatic label hanging work is completed.

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