A labeling robot

Abstract

This utility model discloses a labeling robot, including a base, a label printer, a labeling mechanism, and a control mechanism. The outer wall of the base is equipped with an anti-collision mechanism; an AGV (Automated Guided Vehicle) walking mechanism is installed at the bottom of the base; the label printer is mounted on the base; the labeling mechanism is mounted on the base via a robotic arm and is adapted to identify production codes on steel coils; the labeling end of the labeling mechanism is adapted to absorb the labels printed by the label printer; the robotic arm is adapted to drive the labeling end to move; the control mechanism is adapted to control the AGV walking mechanism to move or stop within the factory where steel coils are stored; the control mechanism is also adapted to control the label printer to print corresponding labels based on the identification results of the labeling mechanism, and to control the label suction end of the labeling mechanism to affix the labels to the corresponding steel coils. This utility model is suitable for automatically labeling steel coils placed in a factory, reducing labor costs, avoiding errors caused by manual operation, and improving work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of labeling machinery technology, specifically to a labeling robot. Background Technology

[0002] Steel coils rolled in the workshop must be stored uniformly in a factory building. The steel coils in the factory building are mostly placed horizontally, meaning their axial direction is horizontal. Furthermore, the steel coils in the factory building are arranged in a matrix.

[0003] In existing technology, workers need to label steel coils stored in the factory. Due to the large size and heavy weight of the steel coils, moving them to the label printer for labeling is quite difficult. Therefore, workers need to confirm the model information of the steel coil based on the production code on it; then, they move to the label printer and manually operate it to print the corresponding label according to the model information; finally, they manually affix the label to the steel coil. This process is prone to errors due to manual operation, such as printing incorrect labels or affixing labels to the wrong steel coils, which can cause problems for subsequent sales and transportation of the steel coils.

[0004] In addition, please see Figures 2-3 As shown, each steel coil 9 requires three labels 8, meaning there are three labeling positions on the steel coil 9. Specifically, the three labeling positions are position 91, position 92, and position 93. Position 91 is located at the 12 o'clock position on the end face of the steel coil 9. Position 92 is located at the 11 o'clock position on the outer edge of the steel coil 9. Position 93 is located at the 6 o'clock position on the inner edge of the steel coil 9. Due to the large size of the steel coil, workers may need to use climbing tools to reach position 92, which could lead to lower work efficiency.

[0005] In summary, labeling steel coils placed in the factory is costly in terms of personnel, prone to errors, and inefficient. Utility Model Content

[0006] This invention proposes a labeling robot to solve the problems of high cost, errors, and low efficiency in labeling steel coils placed in a factory.

[0007] This utility model discloses a labeling robot suitable for affixing labels onto steel coils, including a base, a label printer, a labeling mechanism, and a control mechanism;

[0008] The outer wall of the base is equipped with an anti-collision mechanism; the bottom of the base is equipped with an AGV walking mechanism.

[0009] The label printer is mounted on the base;

[0010] The labeling mechanism is connected to the machine base via a robotic arm. The labeling mechanism is adapted to identify the production code on the steel coil. The labeling end of the labeling mechanism is adapted to absorb the label printed by the label printer. The robotic arm is adapted to drive the labeling end to move.

[0011] The control mechanism is adapted to control the AGV traveling mechanism to move or stop within the factory where steel coils are stored; the control mechanism is also adapted to control the label printer to print corresponding labels based on the identification results of the labeling mechanism, and to control the label suction end of the labeling mechanism to affix the labels to the corresponding steel coils. Through the cooperation of the label printer, labeling mechanism, anti-collision mechanism, AGV traveling mechanism, and control mechanism mounted on the machine base, it is suitable for automatically labeling steel coils placed in the factory, reducing labor costs, avoiding errors caused by manual operation, and improving work efficiency.

[0012] Optionally, the labeling mechanism includes a robotic arm, a fixed plate, a suction cup, and a vacuum device;

[0013] The fixing plate has a first side and a second side arranged opposite to each other; the first side of the fixing plate is connected to the base through the robotic arm; the second side of the fixing plate is connected to the suction cup through a universal joint, and an elastic element is also provided between the fixing plate and the suction cup;

[0014] The vacuuming device is installed inside the base and is connected to the suction cup via a pipeline; the suction cup is the labeling end of the labeling mechanism.

[0015] The second side of the fixing plate is also provided with a visual barcode reader; the control mechanism is adapted to control the label printer to print out the corresponding label sticker according to the identification result of the production code on the steel coil by the visual barcode reader, and to control the robotic arm and the suction cup to stick the label sticker onto the corresponding steel coil.

[0016] The control mechanism is also adapted to control the visual barcode reader to identify the label and production code on the steel coil after the label is affixed to the corresponding steel coil, and to confirm whether the label and production code on the same steel coil correspond and match based on the identification result;

[0017] The control mechanism is adapted to issue a voice error warning when the label and production code on the same steel coil do not match. This scheme ensures that the label is affixed to the corresponding steel coil.

[0018] Optionally, the labeling mechanism further includes a ranging sensor;

[0019] The ranging sensor is mounted on the fixed plate;

[0020] The control mechanism is adapted to determine the position of the center of the steel coil and / or the radius of the steel coil based on the information collected by the ranging sensor, and control the robotic arm to work so that the robotic arm drives the suction cup to attach the label to the designated position on the steel coil. This method ensures that the label is accurately attached to the designated position on the steel coil.

[0021] Optionally, the anti-collision mechanism includes a facade anti-collision sensor and a laser anti-collision sensor;

[0022] The facade anti-collision sensor is installed on the outer wall around the base;

[0023] The laser anti-collision sensor is disposed between the base and the AGV walking mechanism;

[0024] The control mechanism is adapted to control the AGV walking mechanism to move based on the information fed back by the facade anti-collision sensor and the laser anti-collision sensor. By adopting the above scheme and setting up an anti-collision mechanism, collisions can be prevented from occurring during the movement of the AGV walking mechanism.

[0025] Optionally, the AGV walking mechanism includes a chassis, a drive assembly, an auxiliary assembly, and a driven assembly;

[0026] The chassis is located at the bottom of the base;

[0027] The drive component is a single unit, rotatably disposed at the center of the chassis and located below the chassis;

[0028] There are two auxiliary components, which are respectively vertically and flexibly arranged at the front and rear ends of the chassis and located below the chassis; the auxiliary components are respectively located on the front and rear sides of the drive component.

[0029] The driven component is mounted on the chassis and located below the chassis; the driven component is positioned between the drive component and the auxiliary component;

[0030] The drive assembly and the driven assembly are adapted to support the base;

[0031] The control mechanism is adapted to control the auxiliary component located in front of the drive component to separate from the ground and control the auxiliary component located behind the drive component to contact the ground when the drive component moves forward.

[0032] The control mechanism is also adapted to control the auxiliary component located in front of the drive component to contact the ground when the drive component is reversing, and to control the auxiliary component located behind the drive component to separate from the ground. By adopting the above solution, the grip between the AGV walking mechanism and the ground is improved, thereby preventing the AGV walking mechanism from slipping.

[0033] Optionally, the drive assembly includes a mounting plate, drive wheels, a limit plate, an RFID reader, and a magnetic navigation sensor;

[0034] The mounting plate is placed below the chassis; the center of the mounting plate is rotatably mounted on the chassis via a vertically set pivot.

[0035] There are two drive wheels, which are set on the left and right sides of the mounting plate by corresponding limiting plates; each drive wheel is connected to a drive mechanism.

[0036] There are two limiting plates, which are centrally symmetrically distributed below the mounting plate; the limiting plates are arranged in the front-to-back direction, one end of which is mounted on the bottom of the mounting plate through a first bearing seat, and the other end of which is mounted on the bottom of the mounting plate through a spring; the limiting plates are adapted to swing up and down; the drive wheel is located in the middle section of the limiting plates;

[0037] The RFID reader and the magnetic navigation sensor are located at the bottom of the mounting plate, which are suitable for detecting the position of the magnetic strips laid on the factory floor and transmitting the detected position information to the control mechanism.

[0038] The control mechanism is adapted to control the AGV walking mechanism to move based on the information fed back from the RFID reader and the magnetic navigation sensor. This scheme enables the AGV walking mechanism to move effectively within the factory building.

[0039] Optionally, the auxiliary components include a lifting mechanism, a connecting frame, and a support plate;

[0040] The lifting mechanism is vertically arranged, with its upper end fixed to the chassis, and the lifting mechanism is located below the chassis;

[0041] The upper end of the connecting frame is hinged to the chassis, and the lower end of the connecting frame is slidably connected to the lower end of the lifting mechanism in the front-back direction.

[0042] The support plate is fixedly connected to the upper end of the connecting frame; auxiliary wheels are installed at both ends of the support plate. With this design, the connecting frame shares part of the force on the lifting mechanism, thereby preventing the lifting mechanism from jamming.

[0043] Optionally, a limiting post is provided between the chassis and the drive assembly, the limiting post being adapted to limit the rotation angle of the drive assembly;

[0044] The side wall of the limiting post is provided with a mating surface; the mating surface is adapted to be gripped by a wrench so that the wrench can thread the limiting post onto the chassis or the drive assembly. This design limits the rotation angle of the drive assembly.

[0045] Optionally, the base includes a first housing, a second housing, and a third housing;

[0046] The first housing and the second housing are arranged sequentially from front to back on top of the third housing;

[0047] The control mechanism is installed inside the first housing; the robotic arm is located on the top of the first housing;

[0048] The vacuum device of the labeling mechanism is installed inside the second housing; the label printer is located on the top of the second housing;

[0049] The third housing contains a mobile power module.

[0050] Optionally, the steel coils are placed inside a factory building, which is equipped with partition doors that divide the factory building into multiple storage areas for storing steel coils of different specifications.

[0051] The storage area is equipped with multiple saddles for placing steel coils, and the saddles are arranged in a matrix.

[0052] Within the same storage area, a walking channel is provided between each pair of adjacent saddles for the AGV walking mechanism to move through, and the ground of the walking channel is covered with magnetic strips. This design allows the AGV walking mechanism to move within the factory building.

[0053] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0054] With the cooperation of a label printer, labeling mechanism, anti-collision mechanism, AGV walking mechanism and control mechanism set on the base, it is suitable for automatically labeling steel coils placed in the factory, reducing labor costs, avoiding errors caused by manual operation, and improving work efficiency.

[0055] By coordinating the control mechanism and the labeling mechanism, the production code and label on the same steel coil can be checked, thereby reducing the error rate.

[0056] By setting up a distance sensor, the labeling robot can accurately affix the label to the designated position on the steel coil;

[0057] By coordinating the drive components and auxiliary components, the grip between the AGV walking mechanism and the ground is improved, thereby preventing the AGV walking mechanism from slipping.

[0058] By coordinating the AGV walking mechanism with the factory building, the working efficiency of the labeling robot can be improved.

[0059] By setting up a connecting frame, part of the force on the lifting mechanism can be distributed, thereby preventing the lifting mechanism from jamming.

[0060] The above description of the disclosed content and the following description of the embodiments are intended to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0061] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0062] Figure 1 This is a schematic diagram of the factory building in this utility model;

[0063] Figure 2 This is a schematic diagram showing the position of the steel coil to be labeled in this utility model;

[0064] Figure 3 This is a schematic diagram of the structure of the steel coil and the label in this utility model;

[0065] Figure 4 This is a schematic diagram of the labeling robot in this utility model;

[0066] Figure 5 This is a partial schematic diagram of the labeling robot of this utility model;

[0067] Figure 6 This is a partial schematic diagram of the labeling mechanism in this utility model;

[0068] Figure 7 This is a schematic diagram of the universal joint in this utility model;

[0069] Figure 8 This is a schematic diagram of the AGV walking mechanism in this utility model;

[0070] Figure 9 This is a schematic diagram of the chassis inner cavity in this utility model;

[0071] Figure 10 This is a schematic diagram (a) of the driving component in this utility model;

[0072] Figure 11 This is a schematic diagram (II) of the driving component in this utility model;

[0073] Figure 12 This is a schematic diagram (III) of the driving component in this utility model;

[0074] Figure 13 This is a partial cross-sectional schematic diagram of the AGV walking mechanism in this utility model;

[0075] Figure 14This is a schematic diagram showing the distribution of the casters in this utility model;

[0076] Figure 15 This is a schematic diagram showing the distribution of auxiliary components in this utility model;

[0077] Figure 16 This is a schematic diagram of the auxiliary components in this utility model;

[0078] Figure 17 This is a partial exploded view of the auxiliary components in this utility model.

[0079] Explanation of icon numbers:

[0080] 1. Base; 11. First housing; 12. Second housing; 13. Third housing; 14. Mounting bracket;

[0081] 2. Label printer;

[0082] 3. Labeling mechanism; 31. Robotic arm; 32. Fixing plate; 33. Suction cup; 34. Universal joint; 341. Fixing part; 342. Ball head; 35. Elastic element; 36. Vision barcode reader; 37. Distance sensor; 38. Teach pendant;

[0083] 4. Collision avoidance mechanism; 41. Facade collision avoidance sensor; 42. Laser collision avoidance sensor;

[0084] 5. AGV walking mechanism; 51. Chassis; 511. Top plate; 512. Side plate;

[0085] 52. Drive assembly; 521. Mounting plate; 522. Drive wheel; 523. Limiting plate; 524. RFID reader; 525. Magnetic navigation sensor; 526. First bearing housing; 527. Spring; 528. Guide wheel; 529. Guide plate;

[0086] 53. Auxiliary components; 531. Lifting mechanism; 532. Connecting frame; 5321. Slide groove; 533. Support plate; 534. Auxiliary wheel; 535. Pin shaft; 536. Second bearing seat;

[0087] 54. Driven component; 541. Caster wheel; 55. Limit post; 551. Mating surface; 56. Rotating shaft; 57. Safety contact edge;

[0088] 6. Control mechanism; 61. Control panel; 62. Voice player; 63. Emergency stop button;

[0089] 7. Factory building; 71. Saddle; 72. Charging pile;

[0090] 8. Labels;

[0091] 9. Steel coil; 91. First position; 92. Second position; 93. Third position. Detailed Implementation

[0092] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0093] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model 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 the utility model.

[0094] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0095] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0096] This utility model provides a labeling robot suitable for affixing labels 8 onto steel coils 9.

[0097] Labeling robots are suitable for use within factory building 7. Please refer to [link / reference]. Figure 1As shown, steel coils 9 are placed inside factory building 7. Factory building 7 is equipped with partition doors, which divide factory building 7 into multiple storage areas for storing steel coils 9 of different specifications. Multiple saddles 71 are provided in each storage area for placing steel coils 9. The saddles 71 in the same storage area are arranged in a matrix. Within the same storage area, a walking channel for the AGV walking mechanism 5 is provided between adjacent saddles 71. The floor of the walking channel is covered with magnetic strips, which are adapted to cooperate with the AGV walking mechanism 5.

[0098] In this embodiment, a partition door is provided inside the factory building 7, dividing the factory building 7 into two storage areas. The saddles 71 within the same storage area are arranged in a 2×7 matrix. The top of each saddle 71 has several arc-shaped grooves. Steel coils 9 are adapted to be horizontally mounted within these arc-shaped grooves, ensuring that the axis of the steel coils 9 is horizontal. On the same saddle 71, several arc-shaped grooves are evenly spaced along the length of the saddle 71. Therefore, the steel coils 9 are also arranged in a matrix.

[0099] In this embodiment, the production code of the steel coil 9 is located on the outer ring of the steel coil 9. The labeling robot is adapted to affix the corresponding label 8 to the steel coil 9 according to the production code. See also... Figures 2-3 As shown, each steel coil 9 requires three labels 8, meaning there are three labeling positions on the steel coil 9. Specifically, the three labeling positions are the first position 91, the second position 92, and the third position 93. The first position 91 is located at the 12 o'clock position on the end face of the steel coil 9. The second position 92 is located at the 11 o'clock position on the outer edge of the steel coil 9. The third position 93 is located at the 6 o'clock position on the inner edge of the steel coil 9.

[0100] The labeling robot is designed to move along a walkway and, based on the production code of the steel coil 9, affixes three corresponding labels 8 to the first position 91, the second position 92, and the third position 93 of the steel coil 9, respectively. After all three labels 8 are affixed to the steel coil 9, the labeling robot re-identifies the production code and labels 8 of the steel coil 9 and determines whether the information matches. If the production code and label information do not match, the labeling robot remains stationary and issues a voice error warning until a worker resolves the issue. If the production code and label information match, the labeling robot moves to the vicinity of the next steel coil 9 to be labeled, guided by a magnetic strip.

[0101] Please see Figures 4-5 As shown, the labeling robot includes a base 1, a label printer 2, a labeling mechanism 3, an anti-collision mechanism 4, an AGV walking mechanism 5, and a control mechanism 6.

[0102] The machine base 1 is vertically mounted. An anti-collision mechanism 4 is provided on the outer wall of the machine base 1. An AGV traveling mechanism 5 is provided at the bottom of the machine base 1. The AGV traveling mechanism 5 is adapted to move the machine base 1. A label printer 2 is mounted on the machine base 1 and is used to print labels 8. A labeling mechanism 3 is connected to the machine base 1 via a robotic arm 31. The labeling mechanism 3 is adapted to identify the production code on the steel coil 9. The labeling end of the labeling mechanism 3 is adapted to absorb the labels 8 printed by the label printer 2 by vacuuming. The robotic arm 31 is adapted to move the labeling end so that the labeling end affixes the labels 8 to the steel coil 9.

[0103] The control mechanism 6 is connected to the label printer 2, the labeling mechanism 3, the anti-collision mechanism 4, and the AGV walking mechanism 5, respectively.

[0104] The control mechanism 6 is adapted to control the AGV walking mechanism 5 to move or stop within the workshop 7 where the steel coils 9 are stored. The control mechanism 6 is also adapted to control the label printer 2 to print out the corresponding label 8 based on the identification result of the labeling mechanism 3, and to control the label suction end of the labeling mechanism 3 to affix the label 8 to the corresponding steel coil 9.

[0105] Please see Figures 4-5 As shown, the base 1 includes a first housing 11, a second housing 12, and a third housing 13. All three housings are hollow structures. The first housing 11 and the second housing 12 are sequentially arranged on top of the third housing 13 from front to back. The control mechanism 6 is installed inside the first housing 11. The robotic arm 31 is located on top of the first housing 11. The vacuum device of the labeling mechanism 3 is installed inside the second housing 12. The label printer 2 is located on top of the second housing 12. A mobile power module is provided inside the third housing 13, which is suitable for supplying power to the labeling robot so that the labeling robot can operate normally.

[0106] Labels printed by label printer 2 are affixed to the backing paper. Specifically, the label 8 has an information display side and an adhesive side that are positioned opposite each other. The adhesive side of the label 8 is affixed to the backing paper. The labeling end of the labeling mechanism 3 is adapted to adhere to the information display side of the label 8 so as to separate the label 8 from the backing paper. In this embodiment, label printer 2 is a Zebra ZT620 printer. The paper output port of label printer 2 is located on the side of label printer 2 away from robotic arm 31. A paper winding device for winding the backing paper is installed at the paper output port of label printer 2 to prevent the backing paper from accumulating at the paper output port of label printer 2.

[0107] Among them, Chinese patent document with publication number CN208530009U describes a multi-ribbon printhead thermal transfer printer. This printer is equipped with a paper winding device that can rewind the base paper. Therefore, the paper winding device is prior art and will not be described in detail.

[0108] Please see Figures 4-6 As shown, the labeling mechanism 3 includes a robotic arm 31, a fixing plate 32, a suction cup 33, a vacuum device, a universal joint 34, an elastic element 35, and a visual barcode reader 36. The suction cup 33 is the labeling end of the labeling mechanism 3. The fixing plate 32 has a first side and a second side arranged opposite to each other. The first side of the fixing plate 32 is connected to the top of the first housing 11 via the robotic arm 31. The second side of the fixing plate 32 is connected to the suction cup 33 via the universal joint 34. An elastic element 35 is also provided between the fixing plate 32 and the suction cup 33. The vacuum device is located inside the second housing 12. The vacuum device is connected to the suction cup 33 via a pipeline so that the suction cup 33 can adsorb the label 8 printed by the label printer 2, or separate the suction cup 33 from the adsorbed label 8. The vacuum device is prior art and will not be described in detail. The second side of the fixing plate 32 is also provided with a visual barcode reader 36. The visual barcode reader 36 is suitable for identifying the production code on the steel coil 9 and transmitting the identification result to the control mechanism 6. The control mechanism 6 is adapted to control the label printer 2 to print out the corresponding label 8 based on the recognition result of the production code on the steel coil 9 by the vision barcode reader 36, and to control the robotic arm 31 and suction cup 33 to attach the label 8 to the corresponding steel coil 9. After all three labels 8 are attached to the same steel coil 9, the control mechanism 6 controls the vision barcode reader 36 to recognize the label 8 and production code on the steel coil 9, and confirms whether the label 8 and production code on the same steel coil 9 correspond and match based on the recognition result.

[0109] By placing the visual barcode reader 36 and the suction cup 33 on the same side, the flipping motion of the robotic arm 31 can be effectively reduced, improving work efficiency. Specifically, after the suction cup 33 affixes the label 8 to the steel coil 9, the labeling robot needs to use the visual barcode reader 36 to re-identify the production code of the steel coil 9 and the label 8 so that the control mechanism 6 can verify whether the production code of the steel coil 9 matches the label 8. If the visual barcode reader 36 and the suction cup 33 are not placed on the same side, the robotic arm 31 needs to flip after the suction cup 33 affixes the label 8 to the steel coil 9 so that the visual barcode reader 36 on the other side can identify the production code of the steel coil 9 and the label 8. In this embodiment, however, the visual barcode reader 36 and the suction cup 33 are placed on the same side. After the suction cup 33 affixes the label 8 to the steel coil 9, the robotic arm 31 does not need to perform any unnecessary flipping. The visual barcode reader 36 on the same side identifies the production code of the steel coil 9 and the label 8. Therefore, placing them on the same side can effectively improve work efficiency.

[0110] In this embodiment, the suction cup 33 is a vacuum suction cup, and the adsorption surface of the suction cup 33 is located on the side of the suction cup 33 away from the fixing plate 32. Please refer to [link / reference]. Figures 6-7As shown, the universal joint 34 includes a fixing part 341 and a ball head 342. Specifically, the fixing part 341 is fixed to the center of the second surface of the fixing plate 32, and a receiving cavity is formed on the side of the fixing part 341 away from the fixing plate 32. The ball head 342 includes a ball head body and a connecting rod. One end of the connecting rod is fixed to the suction cup 33, and the other end of the connecting rod is rotatably connected to the receiving cavity through the ball head body. There are two elastic elements 35, distributed on both sides of the universal joint 34. The elastic elements 35 are silicone springs, and their two ends are fixedly connected to the fixing plate 32 and the suction cup 33, respectively. With the cooperation of the universal joint 34 and the elastic elements 35, the suction cup 33 can effectively adhere to the surface of the steel coil 9 so that the suction cup 33 can tightly stick the label 8 to the steel coil 9. The visual barcode reader 36 is a Keyence SR-X100.

[0111] In this embodiment, the robotic arm 31 has a fixed end and a movable end that are disposed opposite to each other. The fixed end of the robotic arm 31 is located on the top of the first housing 11. The movable end of the robotic arm 31 is connected to the first surface of the fixed plate 32.

[0112] Furthermore, the labeling mechanism 3 also includes a distance sensor 37. The distance sensor 37 is fixed on the fixing plate 32. The control mechanism 6 is adapted to determine the position of the center of the steel coil 9 and the radius of the steel coil 9 based on the information collected by the distance sensor 37, and control the robotic arm 31 to work so that the movable end of the robotic arm 31 drives the suction cup 33 to accurately apply the label 8 to the designated position of the steel coil 9. Among them, the existing Chinese patent document with publication number CN220398481U describes a pipe diameter measuring device based on laser measurement. Therefore, obtaining the inner and outer diameters of the steel coil 9 through the distance sensor 37 is prior art and will not be described in detail.

[0113] When the labeling robot moves to the vicinity of a steel coil 9 to be labeled via the AGV walking mechanism 5, the AGV walking mechanism 5 stops moving. Subsequently, the distance sensor 37 and the visual barcode reader 36 collect and identify information, and the labeling robot applies the label according to the information. Finally, the labeling robot verifies whether the label 8 and the production code correspond. During the above process, the AGV walking mechanism 5 remains stationary. When the distance sensor 37 obtains the inner and outer diameters of the steel coil 9, as well as the relative position of the distance sensor 37 to the center of the steel coil 9, the control mechanism 6 can determine the position of the distance sensor 37, i.e., the relative position of the distance sensor 37 to the machine base 1, based on the position information of the moving end of the robotic arm 31. Knowing the relative positions of the distance sensor 37 to the center of the steel coil 9 and the relative positions of the distance sensor 37 to the machine base 1, the control mechanism 6 can determine the relative position of the center of the steel coil 9 to the machine base 1. During this period, since the AGV walking mechanism 5 remains stationary (i.e., the base 1 remains stationary), the relative position between the center of the steel coil 9 and the base 1 remains unchanged. Therefore, the robotic arm 31 can then accurately attach the label 8 to the designated positions of the steel coil 9, namely the first position 91, the second position 92, and the third position 93 of the steel coil 9.

[0114] In this embodiment, the ranging sensor 37 is a laser ranging sensor. The ranging sensor 37 is disposed on the first surface of the fixed plate 32, and the ranging sensor 37 is spaced apart from the movable end of the robotic arm 31.

[0115] Furthermore, the labeling mechanism 3 also includes a teach pendant 38. In this embodiment, a mounting bracket 14 is provided on the top of the second housing 12. The teach pendant 38 is adapted to be detachably connected to the mounting bracket 14, that is, the teach pendant 38 is adapted to snap into the mounting bracket 14.

[0116] Among them, the existing Chinese patent document with publication number CN207058563U describes a SCARA industrial robot control system. Therefore, the cooperation between the teach pendant 38, the robotic arm 31 and the controller of the control mechanism 6 is prior art and will not be described in detail.

[0117] Please see Figure 4 and Figure 8 As shown, the anti-collision mechanism 4 includes a facade anti-collision sensor 41 and a laser anti-collision sensor 42. Several facade anti-collision sensors 41 are respectively installed on the outer walls around the base 1. The laser anti-collision sensor 42 is installed between the base 1 and the AGV traveling mechanism 5. The control mechanism 6 is adapted to control the AGV traveling mechanism 5 to move based on the information fed back by the facade anti-collision sensors 41 and the laser anti-collision sensors 42, so as to prevent the AGV traveling mechanism 5 from accidental collisions.

[0118] In this embodiment, two facade anti-collision sensors 41 are respectively disposed on the left and right sides of the first housing 11. Two laser anti-collision sensors 42 are disposed between the third housing 13 and the AGV traveling mechanism 5. The two laser anti-collision sensors 42 are distributed at the bottom diagonal of the third housing 13. The laser anti-collision sensors 42 are used to monitor the road conditions near the AGV traveling mechanism 5 to prevent the AGV traveling mechanism 5 from colliding with obstacles.

[0119] In this embodiment, the facade collision avoidance sensor 41 is used to detect whether a human body is within the working radius of the robotic arm 5. The control mechanism 4 is adapted to control the robotic arm 31 to stop suddenly when a human body is within its working radius, to prevent the robotic arm 31 from accidentally injuring the worker. A prior art Chinese patent document with publication number CN211545754U describes a robotic arm safety system. Therefore, the facade collision avoidance sensor 41 is prior art and will not be described in detail.

[0120] Among them, the facade anti-collision sensor 41 can be a radar sensor.

[0121] Please see Figure 4 , Figures 8-9 As shown, the AGV walking mechanism 5 includes a chassis 51, a drive assembly 52, an auxiliary assembly 53, and a driven assembly 54. The chassis 51 is located at the bottom of the third housing 13. The laser anti-collision sensor 42 is located between the third housing 13 and the chassis 51.

[0122] In this embodiment, the chassis 51 is a hollow structure with an opening at the lower end. The chassis 51 includes a top plate 511 and side plates 512 arranged around the edge of the top plate 511. The side plates 512 are located below the top plate 511. The lower edge of the side plates 512 is wrapped with a safety contact edge 57. The safety contact edge 57 includes a rubber shell and a vibration sensor. The vibration sensor is disposed inside the rubber shell. The control mechanism 6 is adapted to control the drive assembly 52 to perform an emergency stop based on the information fed back by the vibration sensor when the safety contact edge 57 collides with an obstacle, thereby effectively protecting the AGV walking mechanism 5 and preventing secondary collisions of the safety contact edge 57. Among them, the existing Chinese patent document with publication number CN222248836U describes an AGV mother vehicle. Therefore, the safety contact edge 57 is prior art and will not be described in detail.

[0123] In this embodiment, lighting lamps are provided at the four corners of the chassis 51. The lighting lamps are embedded in the side plates 512.

[0124] Please see Figure 9As shown, the inner cavity of the chassis 51 is equipped with a drive assembly 52, an auxiliary assembly 53, and a driven assembly 54, all located below the top plate 511. Specifically, there is one drive assembly 52, rotatably mounted at the bottom center of the top plate 511. There are two auxiliary assemblies 53, each vertically and vertically mounted at the front and rear ends of the bottom of the top plate 511, respectively, located on the front and rear sides of the drive assembly 52. ​​The driven assembly 54 is located at the bottom of the chassis 51 base plate, between the drive assembly 52 and the auxiliary assembly 53. The drive assembly 52 and the driven assembly 54 are adapted to support the base 1.

[0125] When the drive assembly 52 moves forward, the control mechanism 6 is adapted to control the auxiliary assembly 53 located in front of the drive assembly 52 to separate from the ground, and to control the auxiliary assembly 53 located behind the drive assembly 52 to contact the ground, thereby improving the gripping force at the rear end of the AGV traveling mechanism 5. When the drive assembly 52 reverses, the control mechanism 6 is adapted to control the auxiliary assembly 53 located in front of the drive assembly 52 to contact the ground, and to control the auxiliary assembly 53 located behind the drive assembly 52 to separate from the ground, thereby improving the gripping force at the front end of the AGV traveling mechanism 5.

[0126] Please refer to Figures 10-14 As shown, the drive assembly 52 includes a mounting plate 521, drive wheels 522, a limiting plate 523, an RFID reader 524, and a magnetic navigation sensor 525. The mounting plate 521 is located below the top plate 511. The center of the mounting plate 521 is rotatably mounted on the chassis 51 via a vertically arranged pivot 56.

[0127] There are two drive wheels 522. The drive wheels 522 are positioned on the left and right sides of the mounting plate 521 via corresponding limiting plates 523. Each drive wheel 522 is connected to a drive mechanism, which is located below the mounting plate 521. In this embodiment, the drive assembly 52 includes, but is not limited to, a servo motor. The drive assembly 52 uses the speed difference between the two drive wheels 522 to achieve turning of the AGV walking mechanism 5.

[0128] There are two limiting plates 523. The two limiting plates 523 are centrally symmetrically distributed below the mounting plate 521, and on the left and right sides of the mounting plate 521. The limiting plates 523 are arranged in the front-to-back direction. The first end of the limiting plate 523 is mounted on the bottom of the mounting plate 521 via a first bearing seat 526, and the second end of the limiting plate 523 is mounted on the bottom of the mounting plate 521 via a spring 527. The limiting plates 523 are adapted to swing up and down around the corresponding first bearing seat 526.

[0129] In this embodiment, the spring 527 is vertically arranged, with its two ends fixed to the limiting plate 523 and the mounting plate 521, respectively. The inner ring of the spring 527 is provided with upper and lower spring shafts. The upper and lower spring shafts are fixed to the limiting plate 523 and the mounting plate 521, respectively, for guiding the spring 527.

[0130] In this embodiment, the mounting plate 521 is further provided with guide wheels 528 for guiding the second end of the limiting plate 523. Specifically, the guide wheels 528 are disposed at the bottom of the mounting plate 521 via a guide plate 529. Two guide wheels 528 are rotatably disposed on the same guide plate 529, forming a guide channel between the two guide wheels 528. The guide channel is vertically arranged. The second end of the limiting plate 523 is placed within the guide channel, that is, the two guide wheels 528 are placed on the left and right sides of the corresponding limiting plate 523 and are slidably connected to the limiting plate 523, thereby ensuring that the limiting plate 523 can only swing up and down and improving the stability of the drive assembly 52.

[0131] The drive wheel 522 is positioned in the middle of the limiting plate 523, specifically between the first bearing seat 526 and the spring 527. The RFID reader 524 and the magnetic navigation sensor 525 are located at the bottom of the mounting plate 521. Specifically, the RFID reader 524 is fixed to the center of the bottom of the mounting plate 521 via a frame, and is located below the drive mechanism of the drive wheel 522. The magnetic navigation sensor 525 is located on the front and rear sides of the bottom of the mounting plate 521. The RFID reader 524 and the magnetic navigation sensor 525 work together to detect the position of the magnetic strips laid on the floor of the factory 7 and transmit the detected position information to the control mechanism 6. The control mechanism 6 is adapted to control the AGV walking mechanism 5 to move based on the information fed back by the RFID reader 524 and the magnetic navigation sensor 525.

[0132] Among them, the existing Chinese patent document with publication number CN216434766U describes a magnetic navigation AGV. Therefore, the combination of RFID reader 524, magnetic navigation sensor 525 and magnetic strip is prior art and will not be described in detail.

[0133] Furthermore, a limiting post 55 is provided between the chassis 51 and the drive assembly 52. ​​The limiting post 55 is suitable for limiting the rotation angle of the drive assembly 52. ​​Preferably, the rotation angle of the drive assembly 52 is -90° to 90°. In this embodiment, there are four limiting posts 55, which are arranged in a rectangular shape. Two limiting posts 55 on one diagonal are threaded to the bottom of the top plate 511, and two limiting posts 55 on the other diagonal are threaded to the top of the mounting plate 521. Through the mutual cooperation between the limiting posts 55 on the chassis 51 and the limiting posts 55 on the mounting plate 521, the rotation angle of the drive assembly 52 is limited.

[0134] Furthermore, the side wall of the limiting post 55 is provided with a mating surface 551 to reduce the assembly difficulty of the limiting post 55. The mating surface 551 is suitable for being held by a wrench so that the operator can hold the mating surface 551 with a wrench and then thread the limiting post 55 onto the chassis 51 or the drive assembly 52.

[0135] Please refer to Figures 15-17 As shown, the auxiliary component 53 includes a lifting mechanism 531, a connecting frame 532, and a support plate 533. The lifting mechanism 531 is vertically arranged, with its upper end being a fixed end and its lower end being a telescopic end. The lifting mechanism 531 is fixed to the bottom of the top plate 511. The upper end of the connecting frame 532 is hinged to the top plate 511 via a second bearing seat 536, and the lower end of the connecting frame 532 is slidably connected to the telescopic end of the lifting mechanism 531 in the front-to-back direction. The support plate 533 is fixedly connected to the upper end of the connecting frame 532. Auxiliary wheels 534 are installed at both ends of the support plate 533. When the drive component 52 moves forward, the auxiliary wheel 534 located behind the drive component 52 contacts the ground to improve the grip of the rear end of the AGV walking mechanism 5. When the drive component 52 reverses, the auxiliary wheel 534 located in front of the drive component 52 contacts the ground to improve the grip of the front end of the AGV walking mechanism 5.

[0136] In this embodiment, the lifting mechanism 531 is a cylinder. The telescopic end of the lifting mechanism 531 is a telescopic rod. A sliding groove 5321 is provided at the lower end of the connecting frame 532, and a support plate 533 is covered on the sliding groove 5321. The telescopic rod extends into the sliding groove 5321. A pin 535 is rotatably connected to the telescopic rod, and the pin 535 is placed in the sliding groove 5321 and slidably connected with the sliding groove 5321. The cooperation between the sliding groove 5321 and the pin 535 prevents the telescopic rod from disengaging from the sliding groove 5321.

[0137] When the telescopic end of the lifting mechanism 531 drives the lower end of the connecting frame 532 to rise or fall, the connecting frame 532, under the action of the second bearing seat 536 and the pin 535, swings up and down around the second bearing seat 536. Through the cooperation of the connecting frame 532, the second bearing seat 536 and the pin 535, the impact of the auxiliary wheel 534 on the lifting mechanism 531 is reduced. That is, the connecting frame 532 shares part of the force on the lifting mechanism 531, thereby preventing the lifting mechanism 531 from jamming.

[0138] Furthermore, please refer to Figure 9 and Figure 14 As shown, the driven component 54 includes four casters 541. The casters 541 are distributed on the front and rear sides of the drive component 52 and are positioned between the corresponding auxiliary wheels 534 and the drive wheels 522.

[0139] Please refer to Figure 5As shown, the control mechanism 6 includes a controller, a control panel 61, a voice player 62, and an emergency stop button 63. The controller is housed within the first housing 11. Both the control panel 61 and the voice player 62 are mounted on the first housing 11 and located on its front side. The emergency stop button 63 is located on the outer wall of the first housing 11. When the production code and label information of the same steel coil 9 do not match, the voice player 62 is adapted to provide a voice error warning.

[0140] In this embodiment, the controller is connected to the label printer 2, the robotic arm 31, the visual barcode reader 36, the distance sensor 37, the teaching pendant 38, the facade anti-collision sensor 41, the laser anti-collision sensor 42, the drive wheel 522, the RFID card reader 524, the magnetic navigation sensor 525, the lifting mechanism 531, the safety contact edge 57, the control panel 61, the voice player 62, and the emergency stop button 63.

[0141] The working principle of this utility model is as follows:

[0142] Guided by the magnetic strip, the AGV walking mechanism 5 moves to the vicinity of the steel coil 9 to be labeled;

[0143] After that, the AGV walking mechanism 5 stops moving, the controller controls the vision code reader 36 to identify the production code of the steel coil 9 to be labeled, and controls the distance sensor 37 to collect the relevant position information of the steel coil 9;

[0144] According to the recognition structure of the visual barcode reader 36, the controller controls the label printer 2 to print out the corresponding label sticker 8, and controls the robotic arm 31 and suction cup 33 to stick the label sticker 8 to the designated position of the steel coil 9 to be labeled.

[0145] After all three labels 8 are affixed to the steel coil 9, the controller controls the vision reader 36 to identify the labels 8 and production codes on the steel coil 9; the controller confirms whether the labels 8 and production codes on the same steel coil 9 correspond and match based on the identification results of the vision reader 36.

[0146] If the production code of the steel coil 9 and the information of the label 8 match, the controller controls the AGV walking mechanism 5 to move to the vicinity of the next steel coil 9 to be labeled under the guidance of the magnetic strip, and repeats the above labeling and calibration steps.

[0147] If the production code of the steel coil 9 and the information on the label 8 do not match, the controller will control the voice player 62 to issue a voice error warning so that staff can resolve the issue.

[0148] Furthermore, to ensure the labeling robot's battery life, please refer to [link / reference needed]. Figure 1As shown, a charging pile 72 is provided inside the factory building 7. The charging pile 72 is suitable for charging the mobile power module of the labeling robot. In this embodiment, the labeling robot has two charging ports, which are respectively located on the side wall of the third housing 13 and the side plate 512 of the chassis 51.

[0149] In summary, this application provides a labeling robot that, through the cooperation of a label printer, labeling mechanism, anti-collision mechanism, AGV walking mechanism, and control mechanism mounted on a base, is suitable for automatically labeling steel coils placed in a factory, reducing labor costs, avoiding errors caused by manual operation, and improving work efficiency. The cooperation between the control mechanism and the labeling mechanism enables the verification of production codes and labels on the same steel coil, reducing the error rate. The use of a distance sensor ensures the labeling robot accurately applies labels to designated positions on the steel coil. The cooperation between the drive components and auxiliary components improves the grip between the AGV walking mechanism and the ground, thus preventing slippage. The cooperation between the AGV walking mechanism and the factory layout enhances the working efficiency of the labeling robot. The use of a connecting frame distributes some of the force on the lifting mechanism, thus preventing jamming.

[0150] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A labelling robot adapted to apply a label (8) to a steel coil (9), characterised in that, It includes a base (1), a label printer (2), a labeling mechanism (3), and a control mechanism (6); The outer wall of the base (1) is provided with an anti-collision mechanism (4); the bottom of the base (1) is provided with an AGV walking mechanism (5). The label printer (2) is mounted on the base (1); The labeling mechanism (3) is connected to the base (1) via a robotic arm (31). The labeling mechanism (3) is adapted to identify the production code on the steel coil (9). The labeling end of the labeling mechanism (3) is adapted to absorb the label sticker (8) printed by the label printer (2). The robotic arm (31) is adapted to drive the labeling end to move. The control mechanism (6) is adapted to control the AGV walking mechanism (5) to walk or stop in the workshop (7) where the steel coils (9) are stored; the control mechanism (6) is also adapted to control the label printer (2) to print out the corresponding label sticker (8) according to the identification result of the labeling mechanism (3), and control the label suction end of the labeling mechanism (3) to stick the label sticker (8) onto the corresponding steel coil (9).

2. The labeling robot according to claim 1, characterized in that, The labeling mechanism (3) includes a robotic arm (31), a fixing plate (32), a suction cup (33), and a vacuum device; The fixing plate (32) has a first side and a second side arranged opposite to each other; the first side of the fixing plate (32) is connected to the base (1) through the robotic arm (31); the second side of the fixing plate (32) is connected to the suction cup (33) through a universal joint (34), and an elastic element (35) is also provided between the fixing plate (32) and the suction cup (33). The vacuuming device is installed inside the base (1), and the vacuuming device is connected to the suction cup (33) through a pipeline; the suction cup (33) is the labeling end of the labeling mechanism (3); The second side of the fixing plate (32) is also provided with a visual barcode reader (36); the control mechanism (6) is adapted to control the label printer (2) to print out the corresponding label sticker (8) according to the identification result of the production code on the steel coil (9) identified by the visual barcode reader (36), and to control the robotic arm (31) and the suction cup (33) to stick the label sticker (8) onto the corresponding steel coil (9); The control mechanism (6) is also adapted to control the visual barcode reader (36) to identify the label (8) and production code on the steel coil (9) after the label (8) is affixed to the corresponding steel coil (9), and to confirm whether the label (8) and production code on the same steel coil (9) correspond and match based on the identification result; The control mechanism (6) is adapted to provide a voice error warning when the label (8) and production code on the same steel coil (9) do not match.

3. The labeling robot according to claim 2, characterized in that, The labeling mechanism (3) also includes a ranging sensor (37); The ranging sensor (37) is mounted on the fixed plate (32); The control mechanism (6) is adapted to determine the position of the center of the steel coil (9) and / or the radius of the steel coil (9) based on the information collected by the ranging sensor (37), and control the robotic arm (31) to work so that the robotic arm (31) drives the suction cup (33) to attach the label (8) to the designated position of the steel coil (9).

4. The labeling robot according to claim 1, characterized in that, The anti-collision mechanism (4) includes a facade anti-collision sensor (41) and a laser anti-collision sensor (42). The facade anti-collision sensor (41) is installed on the outer wall around the base (1); The laser anti-collision sensor (42) is disposed between the base (1) and the AGV walking mechanism (5); The control mechanism (6) is adapted to control the AGV walking mechanism (5) to walk based on the information fed back by the facade anti-collision sensor (41) and the laser anti-collision sensor (42).

5. The labeling robot according to claim 1, characterized in that, The AGV walking mechanism (5) includes a chassis (51), a drive assembly (52), an auxiliary assembly (53), and a driven assembly (54). The chassis (51) is located at the bottom of the base (1); The drive assembly (52) is a single unit, rotatably disposed at the center of the chassis (51) and located below the chassis (51); There are two auxiliary components (53), which are respectively arranged in a liftable manner at the front and rear ends of the chassis (51) and located below the chassis (51); the auxiliary components (53) are respectively located on the front and rear sides of the drive component (52); The driven component (54) is disposed on the chassis (51) and located below the chassis (51); the driven component (54) is positioned between the drive component (52) and the auxiliary component (53); The drive assembly (52) and the driven assembly (54) are adapted to support the base (1); The control mechanism (6) is adapted to control the auxiliary component (53) located in front of the drive component (52) to separate from the ground when the drive component (52) moves forward, and to control the auxiliary component (53) located behind the drive component (52) to contact the ground; The control mechanism (6) is also adapted to control the auxiliary component (53) located in front of the drive assembly (52) to contact the ground when the drive assembly (52) is reversing, and to control the auxiliary component (53) located behind the drive assembly (52) to separate from the ground.

6. The labeling robot according to claim 5, characterized in that, The drive assembly (52) includes a mounting plate (521), a drive wheel (522), a limiting plate (523), an RFID reader (524), and a magnetic navigation sensor (525). The mounting plate (521) is placed below the chassis (51); the center of the mounting plate (521) is rotatably mounted on the chassis (51) via a vertically arranged pivot (56); There are two drive wheels (522), which are set on the left and right sides of the mounting plate (521) by corresponding limiting plates (523); each drive wheel (522) is connected to a drive mechanism. There are two limiting plates (523), which are centrally symmetrically distributed below the mounting plate (521); the limiting plates (523) are arranged in the front-back direction, one end of which is mounted on the bottom of the mounting plate (521) through the first bearing seat (526), ​​and the other end of which is mounted on the bottom of the mounting plate (521) through the spring (527); the limiting plates (523) are adapted to swing up and down; the drive wheel (522) is located in the middle section of the limiting plates (523); The RFID reader (524) and the magnetic navigation sensor (525) are located at the bottom of the mounting plate (521) and are suitable for detecting the position of the magnetic strip laid on the ground of the factory (7) and transmitting the detected position information to the control mechanism (6). The control mechanism (6) is adapted to control the AGV walking mechanism (5) to walk based on the information fed back by the RFID reader (524) and the magnetic navigation sensor (525).

7. The labeling robot according to claim 5, characterized in that, The auxiliary component (53) includes a lifting mechanism (531), a connecting frame (532), and a support plate (533). The lifting mechanism (531) is vertically arranged, with its upper end fixed on the chassis (51), and the lifting mechanism (531) is located below the chassis (51); The upper end of the connecting frame (532) is hinged to the chassis (51), and the lower end of the connecting frame (532) is slidably connected to the lower end of the lifting mechanism (531) in the front-back direction. The support plate (533) is fixedly connected to the upper end of the connecting frame (532); auxiliary wheels (534) are installed at the left and right ends of the support plate (533).

8. The labeling robot of claim 5, wherein, A limiting post (55) is provided between the chassis (51) and the drive assembly (52), and the limiting post (55) is adapted to limit the rotation angle of the drive assembly (52). The side wall of the limiting post (55) is provided with a mating surface (551); the mating surface (551) is adapted to be held by a wrench so that the wrench can thread the limiting post (55) onto the chassis (51) or the drive assembly (52).

9. The labeling robot of claim 1, wherein, The base (1) includes a first housing (11), a second housing (12) and a third housing (13); The first housing (11) and the second housing (12) are arranged sequentially from front to back on top of the third housing (13); The control mechanism (6) is installed inside the first housing (11); the robotic arm (31) is located on the top of the first housing (11); The vacuum device of the labeling mechanism (3) is installed inside the second housing (12); the label printer (2) is located on the top of the second housing (12); The third housing (13) contains a mobile power module.

10. The labeling robot of claim 1, wherein, The steel coil (9) is placed inside the factory building (7), which is equipped with partition doors that divide the factory building (7) into multiple storage areas for storing steel coils (9) of different specifications. The storage area is provided with multiple saddles (71) for placing steel coils (9), and the saddles (71) are arranged in a matrix. In the same storage area, a walking channel for the AGV walking mechanism (5) is arranged between two adjacent saddles (71), and the ground of the walking channel is paved with a magnetic strip.

Images