A labeling structure

Abstract

The utility model discloses a kind of label sticking structure, including base, printing device, label sticking mechanism and control mechanism;Printing device is set on base;Label sticking mechanism includes connecting plate, universal joint and vacuum chuck;Connecting plate is connected with base by mechanical arm, and the side of connecting plate away from mechanical arm is connected with vacuum chuck by universal joint;Visual code reader and range sensor are equipped on connecting plate;Control mechanism is suitable for controlling visual code reader to identify production code on steel roll, and according to identification result, control printing device to print corresponding label sticking;Control mechanism is also suitable for determining the position of steel roll center and the radius of steel roll according to the information collected by range sensor, and control mechanical arm to work, so that vacuum chuck sticks the label sticking printed by printing device to the specified position of steel roll.The utility model cooperates by each structure, to make label sticking structure carry out efficient and accurate label sticking, effectively improve work efficiency.

Description

Technical Field

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

[0002] Steel coils rolled in the workshop need to be labeled for subsequent sales and transportation. Currently, labeling of steel coils is mostly done manually.

[0003] Please see Figure 1 As shown, each steel coil 8 has three labeling positions. These three positions are designated as position 81, position 82, and position 83. Position 81 is located at the 12 o'clock position on the end face of the steel coil 8. Position 82 is located at the 11 o'clock position on the outer edge of the steel coil 8. Position 83 is located at the 6 o'clock position on the inner edge of the steel coil 8. Due to the large size of the steel coils and the relatively dispersed nature of the three labeling positions, manual labeling is difficult and inefficient. Furthermore, manual labeling can result in labels being applied to the wrong steel coils, leading to a mismatch between the label and the production code information of the steel coil, and affecting subsequent sales.

[0004] Therefore, we need a labeling structure suitable for steel coils. Utility Model Content

[0005] This utility model proposes a labeling structure to solve the technical problem that the work efficiency of labeling steel coils is low and errors are easy to occur.

[0006] This utility model discloses a labeling structure suitable for affixing labels onto steel coils, including a base, a printing device, a labeling mechanism, and a control mechanism;

[0007] The printing device is mounted on the base;

[0008] The labeling mechanism includes a connecting plate, a universal joint, and a vacuum suction cup;

[0009] The connecting plate is connected to the base via a robotic arm, and the side of the connecting plate away from the robotic arm is connected to the vacuum suction cup via the universal joint; the vacuum suction cup is suitable for adsorbing the labels printed by the printing device.

[0010] The connecting plate is equipped with a visual barcode reader and a distance sensor;

[0011] The control mechanism is adapted to control the visual barcode reader to identify the production code on the steel coil, and to control the printing device to print out the corresponding label based on the identification result of the visual barcode reader;

[0012] The control mechanism is also 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 vacuum suction cup affixes the label printed by the printing device to the designated position on the steel coil. Through the cooperation of the printing device, labeling mechanism, control mechanism, robotic arm, visual barcode reader, and ranging sensor, the labeling structure can perform efficient and accurate labeling, effectively improving work efficiency.

[0013] Furthermore, the universal joint includes a fixing part, a ball head, and a connecting rod;

[0014] The fixing part has a receiving cavity on the side away from the connecting plate;

[0015] One end of the connecting rod is fixed to the vacuum suction cup, and the other end of the connecting rod is rotatably connected to the receiving cavity via the ball joint. This design allows the vacuum suction cup to more flexibly adsorb labels.

[0016] Furthermore, the labeling mechanism also includes an elastic element;

[0017] The elastic element is disposed between the connecting plate and the vacuum suction cup, and there are at least two elastic elements symmetrically distributed around the universal joint. This design allows the vacuum suction cup to firmly adhere the label to the steel coil.

[0018] Furthermore, the visual barcode reader is positioned on the side of the connecting plate away from the robotic arm; the ranging sensor is positioned on the side of the connecting plate closer to the robotic arm. This design effectively reduces the robotic arm's flipping motion and improves work efficiency.

[0019] Furthermore, the base includes a first housing, a second housing, and a third housing;

[0020] The first housing and the second housing are arranged sequentially from front to back on top of the third housing;

[0021] The control mechanism is installed inside the first housing; the robotic arm is located on the top of the first housing;

[0022] The second housing is equipped with a vacuum pumping device; the vacuum pumping device is connected to the vacuum suction cup via a pipeline; the printing device is located on the top of the second housing;

[0023] The third housing contains a mobile power module, and the third housing has a charging port.

[0024] Furthermore, the teach pendant of the robotic arm is detachably mounted on the mounting bracket of the base. This design allows operators to easily access the teach pendant.

[0025] Furthermore, a paper winding device for winding the base paper is installed at the paper output port of the printing device. This design prevents the base paper from accumulating at the paper output port of the printing device.

[0026] Furthermore, the control mechanism includes a controller, a control panel, and a voice player;

[0027] The controller is housed within the base;

[0028] Both the control panel and the voice player are mounted on the base and located on the front side of the base;

[0029] The controller is adapted to control the visual barcode reader to identify the production code on the steel coil, and to control the printing device to print out the corresponding label based on the identification result of the visual barcode reader;

[0030] The controller is also 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 vacuum suction cup affixes the label printed by the printing device to the designated position of the steel coil.

[0031] The controller is also adapted to, after the label is affixed to the corresponding steel coil, control the visual barcode reader to identify the label and production code on the steel coil, and confirm whether the label and production code on the same steel coil correspond and match based on the identification result; if the label and production code on the same steel coil do not match, control the voice player to issue a voice error warning. This scheme is used to prompt staff to promptly address the problem of mismatched labels and production codes on the same steel coil.

[0032] Furthermore, the control mechanism also includes an emergency stop button; the emergency stop button is located on the side wall of the base. This design improves safety performance.

[0033] Furthermore, a detection device is provided on the side wall of the base, which is used to detect whether a human body is within the working radius of the robotic arm;

[0034] The control mechanism is adapted to bring the robotic arm to an emergency stop when a human body is within its working radius. This design aims to prevent the robotic arm from accidentally injuring nearby workers.

[0035] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0036] By combining a printing device, a labeling mechanism, a control mechanism, a robotic arm, a vision barcode reader, and a distance sensor, the labeling structure can perform efficient and accurate labeling, effectively improving work efficiency.

[0037] By installing a universal joint between the vacuum suction cup and the robotic arm, the vacuum suction cup can more flexibly adsorb labels.

[0038] By placing the visual barcode reader on the same side as the vacuum suction cup, the flipping motion of the robotic arm is effectively reduced, thus improving work efficiency.

[0039] By coordinating control mechanisms, robotic arms, and vision readers, the production codes and labels on the same steel coil can be matched, reducing the error rate.

[0040] 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

[0041] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0042] Figure 1 This is a schematic diagram showing the distribution of the locations where labels will be applied to the steel coils.

[0043] Figure 2 This is a schematic diagram (a) of the labeling structure in this utility model;

[0044] Figure 3 This is a schematic diagram (II) of the labeling structure in this utility model;

[0045] Figure 4 This is a partial schematic diagram of the labeling structure in this utility model;

[0046] Figure 5 This is a cross-sectional schematic diagram of the universal joint in this utility model.

[0047] Explanation of icon numbers:

[0048] 1. Base; 11. First housing; 12. Second housing; 13. Third housing; 14. Mounting bracket; 15. Detection device; 2. Printing device; 3. Labeling mechanism; 31. Connecting plate; 32. Universal joint; 321. Fixing part; 322. Ball head; 323. Connecting rod; 33. Vacuum suction cup; 34. Elastic element; 4. Control mechanism; 41. Control panel; 42. Voice player; 43. Emergency stop button; 5. Robotic arm; 51. Teach pendant; 6. Visual barcode reader; 7. Distance sensor; 8. Steel coil; 81. First position; 82. Second position; 83. Third position. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] 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.

[0053] This application discloses a labeling structure suitable for affixing labels to steel coils 8.

[0054] In this embodiment, a production code is provided on the outer ring of the steel coil 8. The labeling structure is adapted to affix the corresponding label to the steel coil 8 according to the production code. See also... Figure 1As shown, each steel coil 8 requires three labels, meaning there are three labeling positions on the steel coil 8. Specifically, the three labeling positions are position 81, position 82, and position 83. Position 81 is located at the 12 o'clock position on the end face of the steel coil 8. Position 82 is located at the 11 o'clock position on the outer edge of the steel coil 8. Position 83 is located at the 6 o'clock position on the inner edge of the steel coil 8.

[0055] Please see Figures 2-4 As shown, the labeling structure includes a base 1, a printing device 2, a labeling mechanism 3, and a control mechanism 4. The printing device 2 is mounted on the base 1. The labeling mechanism 3 includes a connecting plate 31, a universal joint 32, and a vacuum suction cup 33. The connecting plate 31 is connected to the base 1 via a robotic arm 5. The side of the connecting plate 31 away from the robotic arm 5 is connected to the vacuum suction cup 33 via the universal joint 32. The vacuum suction cup 33 is suitable for adsorbing the labels printed by the printing device 2. A visual barcode reader 6 and a distance sensor 7 are provided on the connecting plate 31. The visual barcode reader 6 is used to identify the production code on the steel coil 8. The distance sensor 7 is used to determine the position of the center of the steel coil 8 and the radius of the steel coil 8. 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 8 through the distance sensor 7 is prior art and will not be described in detail. In this embodiment, the visual barcode reader 6 is a Keyence SR-X100. The ranging sensor 7 is a laser ranging sensor.

[0056] The control mechanism 4 is connected to the printing device 2, the labeling mechanism 3, the robotic arm 5, the visual barcode reader 6, and the distance sensor 7. The control mechanism 4 is adapted to control the visual barcode reader 6 to identify the production code on the steel coil 8, and to control the printing device 2 to print the corresponding label based on the identification result of the visual barcode reader 6. The control mechanism 4 is also adapted to determine the position of the center of the steel coil 8 and / or the radius of the steel coil 8 based on the information collected by the distance sensor 7, and to control the robotic arm 5 to work so that the vacuum suction cup 33 can affix the label printed by the printing device 2 to the designated position on the steel coil 8 (i.e., the labeling position on the steel coil 8).

[0057] Please see Figures 2-3As shown, 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 4 is installed inside the first housing 11. The robotic arm 5 is located on top of the first housing 11. A vacuum device is provided inside the second housing 12. The vacuum device is connected to a vacuum suction cup 33 via a pipe, so that the vacuum suction cup 33 can adsorb the labels printed by the printing device 2, or separate the vacuum suction cup 33 from the adsorbed labels. The printing device 2 is located on top of the second housing 12. A mobile power module is provided inside the third housing 13, which is used to supply power to the labeling structure. In addition, a charging port is provided on the third housing 13.

[0058] The second housing 12 has a mounting bracket 14 on its top. The robotic arm 5 is a six-axis robotic arm. The teach pendant 51 of the robotic arm 5 is detachably connected to the mounting bracket 14 of the base 1. Existing Chinese patent document CN207058563U describes a SCARA industrial robot control system. Therefore, the cooperation between the teach pendant 51, the robotic arm 5, and the controller of the control mechanism 4 is prior art and will not be described in detail.

[0059] Furthermore, to improve safety and prevent the robotic arm 5 from accidentally injuring nearby workers, a detection device 15 is provided on the side wall of the first housing 11. The detection device 15 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 5 to stop abruptly when a human body is within its working radius. A prior art Chinese patent document with publication number CN211545754U describes a robotic arm safety system. Therefore, the detection device 15 is prior art and will not be described in detail.

[0060] There are two detection devices 15, which are respectively located on the left and right sides of the first housing 11. The detection device 15 can be a radar.

[0061] The label printed by printing device 2 is adhered to the backing paper. Specifically, the label has an information display side and an adhesive side that are positioned opposite each other. The adhesive side of the label is adhered to the backing paper. Vacuum suction cup 33 is adapted to adhere to the information display side of the label to separate the label from the backing paper. In this embodiment, printing device 2 is a Zebra ZT620 printer. The paper output port of printing device 2 is located on the side of printing device 2 away from robotic arm 5. A paper winding device for winding the backing paper is installed at the paper output port of printing device 2 to prevent the backing paper from accumulating at the paper output port of printing device 2. Among them, the existing 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 wind up the backing paper. Therefore, the paper winding device is prior art and will not be described in detail.

[0062] Please see Figure 5 As shown, to enable the vacuum suction cup 33 to more flexibly adsorb labels, the universal joint 32 includes a fixing part 321, a ball head 322, and a connecting rod 323. The fixing part 321 has a receiving cavity on the side away from the connecting plate 31. One end of the connecting rod 323 is fixed to the vacuum suction cup 33, and the other end of the connecting rod 323 is rotatably connected to the receiving cavity through the ball head 322.

[0063] Furthermore, the labeling mechanism 3 also includes elastic elements 34. Elastic elements 34 are disposed between the connecting plate 31 and the vacuum suction cup 33, and there are at least two elastic elements 34, symmetrically distributed around the universal joint 32. In this embodiment, there are two elastic elements 34. The elastic elements 34 are silicone springs. Both ends of the elastic elements 34 are fixedly connected to the connecting plate 31 and the vacuum suction cup 33, respectively. With the cooperation of the universal joint 32 and the elastic elements 34, the vacuum suction cup 33 can effectively adhere to the surface of the steel coil 8, so that the vacuum suction cup 33 can tightly adhere the label to the steel coil 8.

[0064] Please see Figures 2-3 As shown, the control mechanism 4 includes a controller, a control panel 41, and a voice player 42. The controller is located inside the first housing 11. In this embodiment, heat dissipation holes are also provided on the side wall of the first housing 11 to dissipate heat from the inner cavity of the first housing 11. The control panel 41 and the voice player 42 are both located on the front side wall of the first housing 11. The controller is connected to the detection device 15, the printing device 2, the vacuuming device, the control panel 41, the voice player 42, the robotic arm 5, the teaching pendant 51, the visual barcode reader 6, and the distance sensor 7. The controller is adapted to control the visual barcode reader 6 to identify the production code on the steel coil 8, and to control the printing device 2 to print the corresponding label according to the identification result of the visual barcode reader 6. The controller is also adapted to determine the position of the center of the steel coil 8 and the radius of the steel coil 8 according to the information collected by the distance sensor 7, and to control the robotic arm 5 to work so that the vacuum suction cup 33 can attach the label printed by the printing device 2 to the designated position of the steel coil 8. After the label is affixed to the corresponding steel coil 8, the controller is also adapted to control the visual barcode reader 6 to identify the label and production code on the steel coil 8, and to confirm whether the label and production code on the same steel coil 8 correspond and match based on the identification result. If the label and production code on the same steel coil 8 do not match, the controller controls the voice player 42 to issue a voice error warning so that the staff can resolve the problem. If the label and production code on the same steel coil 8 match, the controller controls the voice player 42 to issue a voice broadcast, and then the labeling structure labels subsequent steel coils 8.

[0065] Furthermore, to improve safety, the control mechanism 4 also includes an emergency stop button 43. The emergency stop button 43 is located on the side wall of the first housing 11.

[0066] The working principle of this utility model is as follows:

[0067] The controller controls the movement of the robotic arm 5, which in turn drives the visual barcode reader 6 to move via the connecting plate 31, so that the visual barcode reader 6 can identify the production code on the current steel coil 8; at the same time, the distance sensor 7 collects the size information of the current steel coil 8.

[0068] Based on the recognition results from the visual barcode reader 6, the controller controls the printing device 2 to print the corresponding labels. The controller also determines the position of the center and radius of the steel coil 8 based on information collected by the distance sensor 7. Specifically, when the distance sensor 7 obtains the inner and outer diameters of the steel coil 8, as well as the relative position of the distance sensor 7 to the center of the steel coil 8, the controller can determine the position of the distance sensor 7, i.e., the relative position of the distance sensor 7 and the base 1, based on the position information of the movable end of the robotic arm 5 (i.e., the end of the robotic arm 5 furthest from the first housing 11). Knowing the relative positions of the distance sensor 7 to the center of the steel coil 8 and the relative positions of the distance sensor 7 and the base 1, the relative position of the center of the steel coil 8 and the controller can be determined. During this period, the relative position of the center of the steel coil 8 and the base 1 remains constant, so the robotic arm 5 can subsequently accurately affix the labels to the designated positions on the steel coil 8, i.e., the first position 81, the second position 82, and the third position 83.

[0069] The controller controls the robotic arm 5 to move so that the vacuum suction cup 33 affixes the label printed by the printing device 2 to the designated position on the steel coil 8.

[0070] After the label is affixed to the corresponding steel coil 8, the controller controls the vision reader 6 to identify the label and production code on the steel coil 8, and confirms whether the label and production code on the same steel coil 8 match based on the identification result. If the label and production code on the same steel coil 8 do not match, the controller controls the voice player 42 to issue a voice error warning so that the staff can resolve the issue. If the label and production code on the same steel coil 8 match, the controller controls the voice player 42 to issue a voice announcement so that the staff can move the current steel coil 8 away and move the next steel coil 8 to be labeled to the vicinity of the labeling structure so that the labeling structure can label the subsequent steel coil 8.

[0071] Furthermore, to effectively reduce the flipping motion of robotic arm 5, please refer to... Figure 4As shown, the visual barcode reader 6 is positioned on the side of the connecting plate 31 furthest from the robotic arm 5, meaning it is on the same side as the vacuum suction cup 33. Specifically, after the vacuum suction cup 33 affixes the label to the steel coil 8, the labeling robot needs to use the visual barcode reader 6 to re-identify the production code and label of the steel coil 8 so that the controller can verify whether the production code and label of the steel coil 8 match. If the visual barcode reader 6 and the vacuum suction cup 33 are on different sides, the robotic arm 5 would need to flip after the vacuum suction cup 33 affixes the label to the steel coil 8 so that the visual barcode reader 6 on the other side can identify the production code and label of the steel coil 8. In this embodiment, however, the visual barcode reader 6 and the vacuum suction cup 33 are on the same side. After the vacuum suction cup 33 affixes the label to the steel coil 8, the robotic arm 5 does not need to flip, and the visual barcode reader 6 on the same side can identify the production code and label of the steel coil 8. Therefore, this same-side arrangement can effectively improve work efficiency.

[0072] Furthermore, in order to avoid interference between the ranging sensor 7 and the visual barcode reader 6, and to prevent the ranging sensor 7 from blocking the field of view of the visual barcode reader 6, the ranging sensor 7 is set on the side of the connecting plate 31 closer to the robotic arm 5, that is, the ranging sensor 7 and the visual barcode reader 6 are set on different sides.

[0073] In summary, this invention utilizes a printing device, labeling mechanism, control mechanism, robotic arm, visual barcode reader, and distance sensor to achieve efficient and accurate labeling, effectively improving work efficiency. A universal joint between the vacuum suction cup and the robotic arm allows for more flexible label adsorption. Positioning the visual barcode reader on the same side as the vacuum suction cup reduces the robotic arm's flipping motion, further improving efficiency. The coordination of the control mechanism, robotic arm, and visual barcode reader enables the verification of production codes and labels on the same steel coil, reducing the error rate.

[0074] 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 labeling structure suitable for affixing labels to a steel coil (8), characterized in that, It includes a base (1), a printing device (2), a labeling mechanism (3), and a control mechanism (4); The printing device (2) is mounted on the base (1); The labeling mechanism (3) includes a connecting plate (31), a universal joint (32), and a vacuum suction cup (33). The connecting plate (31) is connected to the base (1) via the robotic arm (5), and the side of the connecting plate (31) away from the robotic arm (5) is connected to the vacuum suction cup (33) via the universal joint (32); the vacuum suction cup (33) is adapted to adsorb the label stickers printed by the printing device (2); The connecting plate (31) is equipped with a visual barcode reader (6) and a ranging sensor (7). The control mechanism (4) is adapted to control the visual barcode reader (6) to identify the production code on the steel coil (8), and to control the printing device (2) to print out the corresponding label according to the identification result of the visual barcode reader (6); The control mechanism (4) is also adapted to determine the position of the center of the steel coil (8) and / or the radius of the steel coil (8) based on the information collected by the ranging sensor (7), and to control the robotic arm (5) to work so that the vacuum suction cup (33) affixes the label printed by the printing device (2) to the designated position of the steel coil (8).

2. The labeling structure according to claim 1, characterized in that, The universal joint (32) includes a fixing part (321), a ball head (322) and a connecting rod (323). The fixing part (321) has a receiving cavity on the side away from the connecting plate (31); One end of the connecting rod (323) is fixed to the vacuum suction cup (33), and the other end of the connecting rod (323) is rotatably connected to the receiving cavity through the ball head (322).

3. The labeling structure according to claim 1, characterized in that, The labeling mechanism (3) also includes an elastic element (34); The elastic element (34) is disposed between the connecting plate (31) and the vacuum suction cup (33). There are at least two elastic elements (34) symmetrically distributed around the universal joint (32).

4. The labeling structure according to claim 1, characterized in that, The visual barcode reader (6) is located on the side of the connecting plate (31) away from the robotic arm (5); the ranging sensor (7) is located on the side of the connecting plate (31) close to the robotic arm (5).

5. The labeling structure according to claim 1, characterized in that, 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 (4) is installed inside the first housing (11); the robotic arm (5) is located on the top of the first housing (11); The second housing (12) is equipped with a vacuum pumping device; the vacuum pumping device is connected to the vacuum suction cup (33) through a pipeline; the printing device (2) is located on the top of the second housing (12); The third housing (13) is equipped with a mobile power module and a charging port.

6. The labeling structure according to claim 1, characterized in that, The teach pendant (51) of the robotic arm (5) is detachably mounted on the mounting bracket (14) of the base (1).

7. The labeling structure according to claim 1, characterized in that, The printing device (2) is equipped with a paper winding device for winding the bottom paper at the paper outlet.

8. The labeling structure according to claim 1, characterized in that, The control mechanism (4) includes a controller, a control panel (41), and a voice player (42). The controller is disposed within the base (1); The control panel (41) and the voice player (42) are both mounted on the base (1) and located on the front side of the base (1); The controller is adapted to control the visual barcode reader (6) to identify the production code on the steel coil (8), and to control the printing device (2) to print out the corresponding label according to the identification result of the visual barcode reader (6); The controller is also adapted to determine the position of the center of the steel coil (8) and / or the radius of the steel coil (8) based on the information collected by the ranging sensor (7), and to control the robotic arm (5) to work so that the vacuum suction cup (33) affixes the label printed by the printing device (2) to the designated position of the steel coil (8). The controller is also adapted to control the visual barcode reader (6) to identify the label and production code on the steel coil (8) after the label is affixed to the corresponding steel coil (8), and to confirm whether the label and production code on the same steel coil (8) correspond to each other based on the identification result; if the label and production code on the same steel coil (8) do not match, the controller controls the voice player (42) to issue a voice error warning.

9. The labeling structure according to claim 8, characterized in that, The control mechanism (4) also includes an emergency stop button (43); the emergency stop button (43) is located on the side wall of the base (1).

10. The labeling structure according to claim 1, characterized in that, The base (1) is provided with a detection device (15) on its side wall. The detection device (15) is used to detect whether there is a human body within the working radius of the robotic arm (5). The control mechanism (4) is adapted to control the robotic arm (5) to make an emergency stop when a human body is within the working radius of the robotic arm (5).

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