Double-machine series-connection intelligent listing robot

Abstract

The utility model relates to the technical field of intelligent control, in particular to a double-machine series intelligent listing robot. Comprising a coil feeding frame used for conveying coils; the label printer and the card feeding machine are used for printing labels and feeding cards; the ABB six-axis robot is in a multi-angle anthropomorphic state, and the functions of automatic hook taking, card taking and automatic card hanging are achieved; the seventh axis driving mechanism is arranged below the ABB six-axis robot and used for bearing and driving the ABB six-axis robot; the card hanging paw is used for taking hooks, penetrating cards and hanging the cards; the scanning visual system is used for scanning and photographing, performing three-dimensional reconstruction on the coil, outputting a three-dimensional coordinate of a target point and guiding the robot to work; the hook making machine is used for making hooks on line; the hangtag grabbing hand is used for grabbing hangtags; and the stable lifting platform is used for driving the listing gripper and the scanning visual system to lift. And automation and unmanned operation of posts are realized, and safe production and intelligent production are effectively embodied.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent control, in particular to a dual-machine series-connected intelligent sign-hanging robot. Background Art

[0002] The description of the background technology in this utility model belongs to the related technology related to the utility model, which is only used to illustrate and facilitate the understanding of the content of the utility model, and should not be understood as the applicant explicitly believing or inferring that the applicant believes that it is the prior art on the filing date of the first application of the utility model.

[0003] The traditional manual label hanging process in high-wire factories is to weigh and print the label in the weighing room, manually remove the label and hook, thread the label, then enter the PF line area, and manually drill into the wire coil to hang the label.

[0004] Personnel frequently enter and exit the PF material conveyor line area, which creates risks of equipment / material falling and collision, burns, lifting objects, and chaotic data management. Personnel repeat single, simple tasks, and their job tasks are boring. Personnel frequently run back and forth without stopping, taking at least 10,000 steps per shift. Utility Model Content

[0005] The purpose of the embodiment of the utility model is to provide a dual-machine series intelligent sign-hanging robot, comprising:

[0006] Wire feeding rack, used for conveying coils;

[0007] Label printer and label feeder, used for printing and delivering labels;

[0008] ABB six-axis robot, multi-angle anthropomorphic state, realizes automatic hook and card removal and automatic card hanging functions;

[0009] The seventh-axis driving mechanism is arranged below the ABB six-axis robot and is used to carry and drive the ABB six-axis robot;

[0010] Tag hanging claw: used for taking hooks, threading tags and hanging tags;

[0011] Scanning vision system: used to scan and take pictures, perform 3D reconstruction of the coil, output the 3D coordinates of the target point, and guide the robot's work;

[0012] Hook making machine, used for making hooks online;

[0013] Hanging tag grabber, used to grab the hanging tag;

[0014] Hold the lifting platform steady to drive the hanging handle and scanning vision system to rise and fall.

[0015] Furthermore, one piece is hung on each of the different packaged wires at both ends of the coil, for a total of two pieces.

[0016] Furthermore, a control system is set up to control the printer, hook making machine and hanging motion equipment internally, and communicate with the tenderer's PF line PLC system and L2 system externally; the interaction with the PF line PLC is through relay contact signals; and the communication with the L2 system is through Ethernet.

[0017] Furthermore, a remote PC control and monitoring terminal is set up to realize automatic operation status display, embedded video monitoring, integrated monitoring operation, personnel manual operation interface, alarm interface and corresponding processing operation interface and event and alarm records.

[0018] Furthermore, the seventh-axis drive mechanism has its own lubrication system and closed protection; the seventh-axis drive mechanism is equipped with a slide rail, a transmission mechanism, a forward extension beam, and a robot base, and is driven by a servo motor to drive the robot forward; the control system interacts with the ABB robot controller to realize the linkage between the seven-axis drive mechanism and the ABB robot.

[0019] Furthermore, it also includes: an electrical control system, (2) including a robot control cabinet, an automatic hook feeding system control module, a visual processing controller, a sign sorting and positioning drive module, an input module, an output module, a power supply module, relays and other electrical devices.

[0020] Furthermore, it also includes: a printing quality detection system, which verifies the content of printed signs, can recognize text, characters, and QR codes, and has corresponding processing and alarm mechanisms.

[0021] Furthermore, the stabilizing lifting platform is hydraulically driven and has its own hydraulic station; the lifting platform is a heavy-duty steel plate structure, and the main scissor fork steel plate is 30mm thick.

[0022] Furthermore, a safety fence is set on the boundary of the movement range of the automatic hanging card machine's hanging card movement device to prevent people from accidentally entering the equipment's action area; the safety fence is equipped with an electronic safety door and grating safety detection, and is interlocked with the equipment. When the safety door is opened, the equipment stops running immediately.

[0023] Furthermore, it also includes: the tangled roll detector is composed of a long-distance laser rangefinder and a roll scanning mechanism; the tangled roll detector is installed at the front waiting station.

[0024] By means of the above solution, the present invention has at least the following beneficial effects:

[0025] The automatic hanging card robot system in the high-line factory is an intelligent robot system that replaces the traditional manual card playing, card picking, and card hanging processes. The traditional manual hanging card process has a single task and a high repetition coefficient, high labor intensity, and frequent back and forth running in the production line area, which poses certain safety hazards. The investment in the automatic hanging card robot system can effectively solve the above problems.

[0026] Empowering robots to perform tasks, giving equipment eyes and brains, while integrating 3D vision with deep learning AI algorithms, transcends the traditional point-to-point teaching model of robotics, enabling truly intelligent robotic applications. This effectively improves working conditions and pace, automating and unmanning tasks, and effectively embodies safe and intelligent production. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for describing the embodiments:

[0028] Figure 1 This is a structural diagram of a dual-machine series-connected intelligent sign-hanging robot in this utility model.

[0029] Figure 2 for Figure 1 A partial enlarged view of . DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the embodiments. It should be understood that the embodiments are intended to make it easier for those skilled in the art to understand the technical solutions of the present invention, and cannot be used as a limitation on the scope of protection of the present invention.

[0031] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present invention, and different embodiments can be replaced or combined, so the present invention can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present invention should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following text.

[0032] Technical parameters and requirements

[0033] Wire coil specifications

[0034] Product specifications: Φ5mm~Φ28mm;

[0035] Wire coil inner hole size: 850~1000mm;

[0036] Wire coil outer diameter: 1100~1250mm;

[0037] Wire coil length: 1000~2100mm;

[0038] Coil weight: 800~2500Kg;

[0039] · Wire coil temperature: room temperature ~ 400℃;

[0040] Designed annual production capacity: 600,000 tons / year;

[0041] Working efficiency: ≥75 rolls / hour;

[0042] C-hook length: 4500mm;

[0043] Height of C-type hook (working surface) from the ground: 1500mm;

[0044] Packing material specifications: steel strip (width 32mm) or wire

[0045] Baling material position: 90 degrees to each other;

[0046] Baling material positioning accuracy: Baling line positioning accuracy ±120mm;

[0047] Packing method: Steel strip packing with single winding, wire packing with single winding or double winding;

[0048] Hanging method: Hang one tag on each end of the coil (two tags in total) on the different packaging wires in the coil. Before the stabilizing device is installed, the area where the baling wire is located on the inner ring of the coil is as shown in the figure below:

[0049] Functions and requirements of high-speed finished product robot automatic label hanging equipment

[0050] Working mode requirements

[0051] Automatic mode - trigger the fully automatic program by pressing the "Start Hanging" button on the control software interface. In fully automatic mode, the robot automatic hanging sign system will perform actions in sequence according to the pre-designed program.

[0052] Manual mode - release the interlock with the on-site equipment and manually control the functional actions of each individual device.

[0053] Emergency Stop - Emergency stop is a safety mode to prevent danger or provide a safe response when the equipment fails or malfunctions. In the emergency stop state, the equipment movement is locked.

[0054] Workflow requirements

[0055] The high-line robot label hanging system needs to be suitable for hanging one product label on different packaging wire materials in the coils at both ends of the coil (two labels cannot be hung on the same packaging line). The equipment is installed downstream of the PF line weighing scale, and adopts interlocking control with the PF conveyor chain, and is organically connected with the production line equipment. According to the label information sent by the tenderer L2, it can realize automatic printing of labels, automatic hook making and delivery, automatic label delivery and flipping, robot hook removal, robot label threading, 3D visual image recognition to grab the packaging line coordinates, and intelligent guidance of the robot to hang labels.

[0056] A robotic system consists of two robots, assigned to two stations for tagging, located on the same side of the PF line. Each robot is capable of attaching a tag to each of the different wire packaging materials at each end of a coil. Normally, the two robots work simultaneously, tagging two coils simultaneously, attaching a tag to each of the different packaging materials at each end. The total tagging cycle for each coil (defined as the time from the current coil arriving at the tagging station to the next coil arriving at the tagging station) is ≤66 seconds, with an average single-roll tagging cycle time of ≤40 seconds (accounting for the possibility of two coils arriving at their respective tagging stations at different times, with a maximum processing capacity of approximately 85 coils per hour). Within this time, the system must complete the tagging process, return, and release the coil. Once the system completes tagging and releases the current coil, the next coil is immediately released to the corresponding station.

[0057] System functional requirements

[0058] Signage printing

[0059] The signboard shall be provided by the tenderer;

[0060] Label type: high temperature paper (multi-sheet roll), temperature resistance: room temperature ~ 450℃;

[0061] Signage size: 110mm*75mm*0.2mm, round hole diameter Φ7mm, position error of different rolled holes ≤±0.1mm;

[0062] The fully automatic sign printing system automatically selects the corresponding blank sign for printing based on the content and quantity information sent by the tenderer's L2 system. After printing, the system verifies the printed sign for accuracy (content accuracy and print integrity), performs OCR on the barcode and QR code on the sign, and can identify abnormal signs for verification.

[0063] A single robot needs to be equipped with two PET printers.

[0064] The system needs to have remote alarm and prompt output functions for abnormal conditions, such as:

[0065] Abnormal sign alarm and corresponding processing

[0066] Printer failure

[0067] Printer supplies replenishment reminder

[0068] Supplementary signs

[0069] Hook making and label hook threading

[0070] The automatic hanging machine needs to have the function of making hooks. The raw material parameters of the hooks are as follows:

[0071] Hook making machine 4 steel wire specifications and material parameters

[0072] Name: High strength galvanized steel wire;

[0073] Galvanized appearance quality: The galvanizing should be uniform, without any missing plating or cracks, and the surface of the steel wire should be smooth and free of foreign matter;

[0074] Galvanized layer weight: >30g / ㎡;

[0075] Steel wire diameter: Φ2.0±0.02mm;

[0076] Tensile strength: >1800Mpa;

[0077] Finished spring hook bullet

[0078] Wire coil parameters

[0079] Inner diameter: 420±20mm;

[0080] Outer diameter: 680±20mm;

[0081] Bundle weight: 85±10kg;

[0082] Wire winding direction: counterclockwise, as shown in the figure below

[0083] During transportation and storage, the wire should not have obvious creases;

[0084] Schematic diagram of cable rack routing

[0085] After the automatic hanging mechanism is hooked, the sign needs to be put through the hook.

[0086] The system must have remote alarm and prompt output functions for abnormal conditions.

[0087] Wire coil stop position, wire coil stability and hook number reading

[0088] The wire coils of the wire production line are suspended on the C-hook of the PF line for transportation. The working position of the high-line intelligent robot hanging system is located downstream of the PF line weighing point. It is equipped with a C-hook stop mechanism and a hook number reading device. A waiting position is set about 2m upstream of the working position. The waiting position is equipped with a C-hook stop mechanism, which is used to stop the wire coil and read material data. The hook number reading device adopts the machine vision system 10, which is provided by the tenderer and the development interface.

[0089] When the C-hook arrives at the weighing station for weighing, the robot system can communicate data with the on-site L2 system, MES or ERP, and the data is transmitted to the robot system and a label is printed.

[0090] Hanging signs

[0091] After the wire coil stops and stabilizes at the tagging station, a fully automated printing and tagging system uses a motion device (robot or other) to retrieve the hooked tag and then hang it on the wire coil's baling line. A tag is attached to each end of the coil, along with the different wire materials within the coil. The tags are then hung on the baling line via hooks and must be accessible for removal and rehanging by downstream users. The selected visual recognition equipment must be industrial-grade, and the brand is Intel.

[0092] It has a successful hanging detection function, automatically identifies unsuccessful hanging and alarms, prompting manual hanging; when hanging fails, the automatic hanging machine places the sign at the designated location and notifies the system to complete the hanging operation manually.

[0093] Safety protection

[0094] A safety fence (height ≥ 2m) should be set on the boundary of the movement range of the hanging sign movement equipment (robot or other) of the fully automatic printing and hanging sign system to prevent people from accidentally entering the equipment operation area; the safety fence should be equipped with an electronic safety door and grating safety detection, and be interlocked with the equipment. When the safety door is opened, the equipment will stop running immediately; when the equipment is running, there will be equipment operation ground floodlights at the upstream and downstream exits of the PF line to prevent people from accidentally entering the equipment operation area from the PF line; voice alarm function, three-color indicator light 13 indication and alarm.

[0095] Electronic control system

[0096] The fully automatic printing and hanging tag system shall be equipped with a control system (PLC brand: Siemens) to control the printer, hook making machine 4, and hanging tag motion equipment internally, and to communicate with the tenderer's PF line PLC system and L2 system externally. Interaction with the PF line PLC shall be via relay contact signals; communication with the L2 system shall be via Ethernet.

[0097] The fully automatic listing system should be equipped with a remote PC control and monitoring terminal, the main functions of which are:

[0098] Automatic operation status display

[0099] Embedded video surveillance, integrated monitoring and operation

[0100] Manual operation interface

[0101] Alarm interface and corresponding processing operation interface

[0102] Event and alarm records

[0103] Computer and Information Systems

[0104] Communicates with the L2 system and records events and alarms within the fully automatic printing and hanging system. It has a human-machine interface to achieve management of printing operations and other equipment.

[0105] The application software uses a full Chinese software interface with a friendly design and simple and convenient operation. It can display the system working status and set operating parameters.

[0106] The system must have a display terminal that can display the status of each device in the system and alarm information.

[0107] Protection level and structure

[0108] The equipment is installed in the factory workshop, and the protection level of the electrical panel box is not less than IP43; the robot's main slide rail (seventh axis) has a self-driven lubrication system and closed protection.

[0109] Equipment anti-corrosion coating

[0110] Specific anti-corrosion requirements are as follows:

[0111] The technical regulations for steel structure and pipeline coating projects shall be implemented in accordance with the Technical Regulations for Steel Structure and Pipeline Coating Projects YB / T9256-96.

[0112] After all steel structure components are manufactured, they are sandblasted or shot blasted to remove rust and meet the national standard (GB / T8923) Sa21 / 2 level.

[0113] The steel structure shall be painted with 2 coats of anti-rust primer, 1 coat of intermediate paint and 2 coats of topcoat on both the inside and outside. The touch-up paint shall be provided by the bidder and the construction company shall touch-up the paint on site.

[0114] color

[0115] See the table below, details will be determined during the basic design review.

[0116] Device Color Table

[0117]

[0118]

[0119]

[0120] Requirements for main accessories

[0121] (1) Definition: Equipment accessories refer to standard parts purchased from the market or non-standard parts designed and manufactured by a professional factory, which are not manufactured by the bidder.

[0122] (2) General requirements: It is required to purchase accessories with good quality, reliable performance, mature products and good interchangeability. The name of the accessories, manufacturer, etc. must be listed. The format is shown in the table below:

[0123] Accessories List

[0124] Serial number Kit Name Recommended suppliers or manufacturers Remark 1 breaker Siemens, ABB, Schneider 2 contactor Siemens, ABB, Schneider 3 Thermal overload relay Siemens, ABB, Schneider 4 relay Siemens, ABB, Schneider 5 Industrial Computer Advantech 6 Proximity switches Omron, Turck, Ifm 7 Signage Printer 6 zebra

[0125] General requirements

[0126] The equipment provided by the bidder shall be at the domestic advanced level, and the quality of the products produced shall reach the domestic or world advanced level;

[0127] The equipment provided by the bidder is advanced, reliable and highly stable;

[0128] The equipment provided by the bidder must be of good structure, easy to operate, stable in operation, with few mechanical and electrical failures, high in production efficiency, and able to meet the output and quality requirements specified in the product plan;

[0129] Equipment composition of high-speed wire automatic hanging system

[0130] Industrial six-axis robot 8 (for greater clarity, the applicant will attach Figure 1 The parts containing reference numerals 4, 5, 6, 7, and 8 are partially enlarged. Figure 2 . )

[0131] This project design uses the imported industrial six-axis robot 8ABB as the motion platform to achieve the function of free hanging at multiple angles.

[0132] Includes robot body, control cabinet, teaching pendant and cables.

[0133] Seventh axis drive mechanism 1

[0134] The equipment base is equipped with a slide rail, a transmission mechanism, a forward extension beam, and a robot base, which is driven by a servo motor to drive the robot forward.

[0135] The control system interacts with the ABB robot controller to achieve linkage between the seventh axis and the ABB robot.

[0136] Self-propelled lubrication system and closed protection.

[0137] Hanging claw 9

[0138] The utility model has double hanging claws 9, which can be used with both hands at the same time to take out two hooks and two cards at a time.

[0139] The functions of taking the hook, inserting the card and hanging the card are realized by the hand claw 9.

[0140] 2D / 3D industrial camera + laser line scan vision system 10

[0141] Through 2D+3D industrial camera shooting, equipped with auxiliary light source, coordinate conversion is realized through computer high-speed image processing module, and the three-dimensional coordinates of the appropriate hanging point on the wire coil packaging steel belt are automatically located. The precise three-dimensional coordinates of the wire coil are then scanned by laser line. Through 2D+3D multiple algorithms, the robot is guided to automatically hang the label, with a high success rate of hanging.

[0142] The robot can determine the angle of the strapping steel strip or the strapping wire by taking a picture of the end face of the wire coil with a 3D industrial camera, determining the angle position of the strapping steel strip in the wire coil, and guiding the robot to take pictures of the inside of the wire coil at the appropriate angle.

[0143] The 2D industrial camera has a successful tag-hanging detection function, automatically identifying unsuccessful tag-hanging and issuing an alarm, prompting manual re-hanging.

[0144] Label printer 6 and label feeder 5

[0145] The system is equipped with 4 sets of PET printers and 5 corresponding card feeders. The system has remote alarm and prompt output functions for abnormal printer status, such as:

[0146] Abnormal sign alarm and corresponding processing

[0147] Printer failure

[0148] Supplementary signs

[0149] Printer supplies replenishment reminder

[0150] OCR print quality inspection

[0151] Each PET printer is equipped with one independent OCR print quality inspection device7, for a total of four sets.

[0152] The printed signs can be verified for content, and can recognize text, characters, and QR codes, and have corresponding processing and alarm mechanisms.

[0153] Hook Making Machine 4

[0154] The hook making machine 4 applies advanced microcomputer processing technology, realizes online hook making and hook removal functions through the linkage of multiple servo mechanisms and coordinated with robots; the hook making machine 4 has the characteristics of simple operation, easy use, and firm hanging signs.

[0155] The number of hooks produced in a single loading process is >15,000.

[0156] Steady the lifting platform 11

[0157] Hydraulic lifting and stabilizing device: Equipment dimensions are 1500mm×1000mm×565mm (length×width×height), maximum lifting height is 380mm, rising time ≤3s, descending time ≤1.5s; foundation pit dimensions are 2500mm×1860mm×400mm (length×width×depth).

[0158] It adopts hydraulic drive and comes with its own hydraulic station.

[0159] The lifting platform 11 is a heavy steel plate structure, and the main scissor fork steel plate is 30mm thick.

[0160] The hook making machine 4 is fixedly mounted on the mounting plate of the seventh-axis drive mechanism 1, and the card feeding machine 5 is fixedly mounted on the mounting plate of the hook making machine 4 to ensure that the center of the wire hole of the hook making machine 4 and the center of the card hole maintain a certain distance; the industrial six-axis robot 8 is fixedly mounted on the square end panel of the seventh-axis drive mechanism 1, and the card hanging gripper 5 is fixedly mounted on the flange surface of the end of the six-axis of the industrial six-axis robot 8; the stabilizing lifting platform 11 is fixedly mounted in the pre-construction foundation pit; the motion center of the seventh-axis drive mechanism 1 coincides with the center of the installation position of the stabilizing lifting platform 11;

[0161] When working, the material steel coil first stops at the specified position, the lifting platform 11 is stabilized and raised to lift the material steel coil and stop it. At this time, the seventh-axis driving mechanism 1 stops at the remote starting position, and the hook making machine 4 receives the command to make the spring hook and the card feeding machine 5 receives the command synchronously to print the label information in real time and send the printed label to the specified position to wait; after the spring hook and the label are in place, the industrial six-axis robot 8 moves to the specified position with the label hanging gripper 5 according to the specified path, and the clamping mechanism on the label hanging gripper 5 grabs the spring hook and moves to the specified position to pass the spring hook through the label hole. At this point, the spring hook passes through and takes away the spring hook and the label at the same time; then the seventh-axis driving mechanism 1 drives the mechanism to operate, and the industrial six-axis robot 8 and the label hanging gripper 5 move simultaneously in the direction of the material steel coil to the specified position. After the label hanging gripper 5 completes the preset action, the spring hook and the label are placed together in the specified area of ​​the material steel coil; then the label hanging seven-axis ground rail 1 driving mechanism operates, returns to the starting position to execute the next round of instructions.

[0162] Safety protection

[0163] Adopting the seventh axis design, when the C-hook is running, the automatic label hanging machine completely withdraws from the movement track of the C-hook to ensure the safety of the equipment.

[0164] A safety fence (height ≥ 2m) is set on the boundary of the movement range of the automatic hanging card machine's hanging card movement equipment (robot or other) to prevent people from accidentally entering the equipment's action area.

[0165] The safety fence should be equipped with electronic safety gates and light grid safety detection, and be interlocked with the equipment. When the safety gate is opened, the equipment will stop running immediately.

[0166] When the equipment is running, ground floodlights are installed at the upstream and downstream exits of the PF line to prevent people from accidentally entering the equipment operation area from the PF line.

[0167] Voice alarm function, five-color indicator light indication and alarm.

[0168] Rough roll detection

[0169] The roll disorder detector is composed of a long-distance laser rangefinder and a roll scanning mechanism, which can accurately and reliably identify the rolls.

[0170] The wire coil detector is installed at the front waiting station to determine in advance whether the wire coil has a disorderly coil phenomenon, which improves the hanging rhythm.

[0171] Electrical control system

[0172] Control system diagram

[0173] It includes robot control cabinet 2, automatic hook feeding system control module, visual processing controller, signage sorting and positioning drive module, input module, output module, power supply module, relay and other electrical components, which are placed according to the design.

[0174] The cabinet is equipped with a display screen display control and a keyboard and mouse to facilitate modification of the operating interface.

[0175] The system's start, stop, pause, emergency stop and other operating modes are all controlled through the display screen or operation box. The system operating status and system alarms can be displayed on the display screen or operation box, and the system operating status indicator light is also displayed.

[0176] The robot control cabinet 2 and the on-site operation box are equipped with an emergency stop button. When an emergency occurs in the system, the system can be stopped by pressing the emergency stop button and an alarm signal can be issued at the same time.

[0177] It has quick switching between manual and automatic modes, and displays alarm information on the display screen to achieve rapid diagnosis and troubleshooting, providing guarantees for production. The display screen displays equipment status information, making on-site operations clear at a glance. The display screen enables single-unit manual operation, which is easy to operate and displays operating procedures and other useful information for workers to operate.

[0178] Software Description

[0179] The programming language and system control language used by the system operating software are both universal programming and control languages.

[0180] The software uses a fully Chinese software interface with a friendly design and easy operation.

[0181] Parameters can be set to automatically receive communication data from the on-site L2 system, MES or ERP and then print the sign.

[0182] Automatic detection and alarm function: when the equipment fails, the operating software will automatically alarm and provide certain fault prompts and maintenance assistance.

[0183] Powerful test and maintenance functions: In daily maintenance work, the test and maintenance functions of the operating software can help maintenance personnel to self-test the use of key components of the equipment, greatly reducing the workload of maintenance personnel.

[0184] For the data recording and query of sign printing, this system has its own local database. Whether it is network data sharing or manual data input, the operating software of this system has made detailed records, which can be used by the tendering party to query and export data tables for printing.

[0185] The software has the function of setting 10 parameters of the visual system.

[0186] The software has the function of calibrating the visual system 10 and the robot coordinate conversion.

[0187] High-speed line automatic hanging system equipment working instructions

[0188] Equipment installation layout

[0189] According to the on-site conditions, the working position of the high-speed line intelligent robot tagging system in this scheme is set at the downstream of the PF line weighing scale, and is equipped with a wire coil lifting and stabilizing device and a C-type hook stop mechanism; a front waiting position is set about 2m upstream of the working position, and is equipped with a C-type hook stop mechanism and a hook number reading device; one set of robot system includes two robots, which are divided into two workstations for tagging operations and are arranged on the same side of the PF line. (See attached Figure 1 : Installation plan of high-speed line hanging robot)

[0190] Brief workflow

[0191] Reading of front position information: When the C-hook arrives at the front waiting position, the robot system can communicate data with the on-site L2 system, MES or ERP, and the data is transmitted to the robot system in advance and the label is pre-printed; after the data is read, the robot system determines that the downstream work position has no wireless roll, opens the C-hook PF chain stop mechanism, and sends the C-hook downstream.

[0192] Pre-printed labels and OCR print quality inspection: According to the system scheduling, determine which robot will hang the label on the current roll. After the robot system that hangs the label on the current roll obtains the card playing data, it prints the label and performs print quality inspection by OCR.

[0193] Robot takes cards: The robot completes the insertion of 2 signs and moves to the waiting position.

[0194] Wire coil lifting and stabilizing: When the C-hook reaches the working position and stops, the lifting and stabilizing mechanism rises to stabilize the wire coil.

[0195] Angle determination of the baling line on the left side of the inner ring: The robot and the seventh-axis system move to the left-side hanging photo point, and the 3D camera takes a photo and determines the angle position of the baling line on the coil.

[0196] Hanging the sign on the left side of the inner circle: The 3D vision system 10 takes a picture and determines the location of the sign-hanging point, guiding the robot to complete the sign-hanging.

[0197] Angle determination of the baling line on the right side of the inner circle: The robot adjusts its posture to the right side of the hanging photo point, and the 3D camera takes a photo and determines the angle position of the baling line on the line coil.

[0198] Hanging the tag on the right side of the inner circle: The 3D vision system 10 takes a picture and determines the location of the tagging point, guides the robot to complete the tagging, and the robot and the seventh axis system withdraw the wire coil and move to a safe position.

[0199] Coil lift release: The lift stabilization mechanism descends, opening the C-hook PF chain parking mechanism and sending the C-hook downstream. Robot hook removal: The robot removes a set of two spring hooks and waits for the next coil data.

[0200] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A dual-machine series intelligent sign-hanging robot, characterized in that: include: Wire feeding rack, used for conveying coils; Label printer and label feeder, used for printing and delivering labels; ABB six-axis robot, multi-angle anthropomorphic state, realizes automatic hook and card removal and automatic card hanging functions; The seventh-axis driving mechanism is arranged below the ABB six-axis robot and is used to carry and drive the ABB six-axis robot; Tag hanging claw: used for taking hooks, threading tags and hanging tags; Scanning vision system: used to scan and take pictures, perform 3D reconstruction of the coil, output the 3D coordinates of the target point, and guide the robot's work; Hook making machine, used for making hooks online; Hanging tag grabber, used to grab the hanging tag; Hold the lifting platform steady to drive the hanging handle and scanning vision system to rise and fall.

2. The dual-machine serial intelligent sign-hanging robot according to claim 1, characterized in that: Hang one piece on each end of the coil, for a total of two pieces.

3. The dual-machine serial intelligent sign-hanging robot according to claim 1, characterized in that: A control system is set up to control the printer, hook making machine and hanging motion equipment internally, and communicate with the tenderer's PF line PLC system and L2 system externally; the interaction with the PF line PLC is through relay contact signals; and the communication with the L2 system is through Ethernet.

4. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: Set up a remote PC control and monitoring terminal to realize automatic operation status display, embedded video monitoring, integrated monitoring operation, personnel manual operation interface, alarm interface and corresponding processing operation interface and event and alarm records.

5. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: The seventh-axis drive mechanism has its own lubrication system and enclosed protection; the seventh-axis drive mechanism is equipped with a slide rail, transmission mechanism, forward extension beam, and robot base, and is driven by a servo motor to drive the robot forward; the control system interacts with the ABB robot controller to achieve linkage between the seven-axis drive mechanism and the ABB robot.

6. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: Also includes: The electrical control system (2) includes a robot control cabinet, an automatic hook feeding system control module, a visual processing controller, a sign sorting and positioning drive module, an input module, an output module, a power supply module, relays and other electrical components.

7. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: Also includes: The print quality inspection system verifies the content of printed signs, can recognize text, characters, and QR codes, and has corresponding processing and alarm mechanisms.

8. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: The stabilizing lifting platform is hydraulically driven and has its own hydraulic station; the lifting platform is a heavy-duty steel plate structure, and the main scissor fork steel plate is 30mm thick.

9. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: A safety fence is set on the boundary of the movement range of the automatic hanging card machine's hanging card movement equipment to prevent people from accidentally entering the equipment's action area; the safety fence is equipped with an electronic safety door and grating safety detection, and is interlocked with the equipment. When the safety door is opened, the equipment stops running immediately.

10. The dual-machine serially connected intelligent sign-hanging robot according to claim 1, characterized in that: Also includes: The roll disorder detector is composed of a long-distance laser rangefinder and a roll scanning mechanism; the roll disorder detector is installed at the front waiting station.

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