1. Equipment overview

At present, after the coils are packaged and weighed in the High Line Factory, the signs of the finished products of the High Line are all carried out in the form of manual printing of signs, manual picking, and manual listing. The workload is large, it is a simple and repetitive work, and it requires the participation of more operators. There are safety hazards such as high labor costs, poor on-site operating environment (high temperature, dust, noise), and scalds and bumps during operation.

Added robot hanging (welding) card system，The system is based on the industrial robot platform and image recognition technology, which realizes the automatic transmission, automatic printing and cutting, and automatic sorting of the signage data. and other functions. After the robot automatically takes the card, use the sign hook to hang the sign on the baling line used for bundling the coil. On the steel bar to ensure the reliability of the logo.

The robot can complete the requirements of printing, removing and welding 2 sign within 45s.

2. Design conditions

3. Equipment function and technical parameters

3.1 Main technical functions

(1) Label printing and cutting can be realized;

(2) Realize the presence or absence of signage detection, automatic signage arrangement, and signage automatic positioning;

(3) The manipulator automatically takes cards and pierces the hook;

(4) Realize the automatic identification of the position of the packaging line, and automatically determine the listing point;

(5) Real-time monitoring of the operation of the system, real-time alarm for abnormal conditions, and accurate positioning of the fault alarm point;

(6) The front-end interface is reserved for the system, which can be connected to information systems such as Party A’s secondary or tertiary system, and automatically obtains the data information of the printer.

(7) Real-time monitoring of the operation of the system and real-time alarm for abnormal situations;

(8) It can realize the high temperature and dust protection functions of the robot;

(9) Provide independent HMI screen and access control center

3.2  Main technical parameters

4. System composition

The complete set of automatic listing robot equipment includes: robot system, robot base, seventh axis, hook making machine system, sign printer, listing positioning 3D identification system, automatic listing system, disc type detection and weighing roll identification and detection system, roll anti-sway. It is composed of mechanism, electronic control system and field guardrail.

• (1) The system design uses a six-axis industrial robot as the action platform, which can achieve the function of free listing from multiple angles. The system is equipped with domestic and foreign first-line brand robots.
• Using a dedicated label printer, the printing and labeling series system is reliable, flexible and robust, can communicate with production line data, and can be configured for various applications, and can print ordinary numbers, letters and ASCII codes, 1D codes and 2D codes.
• The machine for making paper clip hooks is stable and reliable, which is conducive to the operation of listing. If the customer needs to directly weld the sign on the packaging line, it can also be realized according to the customer’s requirements (or direct welding method).
• Automatic nail feeding system: nail separation mechanism, straight vibration and flat feeding mechanism, high reliability. Vibration control adopts CUH’s intelligent digital pressure regulating vibrating feeding controller, which controls the disc feeder and the vibrating nail feeding straight chute to complete the feeding of nails to a fixed position for the robot to take nails. The fault tolerance of the nail feeding device, when the specifications of the welding nails meet the design standards of the welding nails, the success rate of the nail feeding device reaches 99.99% (only necessary for welding methods).
• Vision system: including 3D vision camera, high-resolution CCD camera, imaging light source system, roll-length laser rangefinder, mounting frame, etc.
• Signage printer and hook-making device have automatic hot-switching function for one use and one standby, which can be freely combined.
• The control cabinet and robot are equipped with high temperature and dust protection systems, which can effectively prevent the impact of high temperature and dust on the system.
• “C”-shaped hooks must be used for both PF lines and monorail lines. Each “C” hook has a unique hook number. In order to automatically identify the tick number, we use machine vision recognition to automatically identify the tick number, realize the automatic weighing of the tick number into the system, and realize automatic printing of labels. The communication mode can be Ethernet or 485 communication (optional).