CN110293568A - A kind of coil of strip coding end effector of robot and the method for coil of strip coding - Google Patents
A kind of coil of strip coding end effector of robot and the method for coil of strip coding Download PDFInfo
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- CN110293568A CN110293568A CN201910625288.4A CN201910625288A CN110293568A CN 110293568 A CN110293568 A CN 110293568A CN 201910625288 A CN201910625288 A CN 201910625288A CN 110293568 A CN110293568 A CN 110293568A
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- coil
- strip
- coding
- robot
- rocker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/413—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material for metal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Spray Control Apparatus (AREA)
Abstract
A kind of coil of strip coding end effector of robot and the method for coil of strip coding, belong to coil of strip code spraying technology field, which includes support portion and coding portion, and support portion upper end is fixedly connected with end flange, and support portion lower end is connect with the rotational positioning of coding portion；Coding portion includes the position detecting mechanism and carried sprayer for marking code for detecting coil of strip radius size and endface position, the beneficial effects of the invention are as follows, the actuator overall structure is simple, securely and reliably, it is easy to maintain, it is used cooperatively with six-joint robot, realize intelligent control, the actuator is adjusted according to the outer diameter size of coil of strip, the outer diameter size and endface position of coil of strip are detected by testing agency, robot control system determines coding position coordinates after the outer diameter size and endface position of coil of strip are inputted robot control program, the position of required coding can be accurately positioned, make the more flexible convenience of coding, it meets the management of production process Plays and Process of Information control requires.
Description
Technical field
The present invention relates to coil of strip code spraying technology field more particularly to a kind of coil of strip coding end effector of robot and steel
The method for rolling up coding.
Background technique
In the production process of steel industry coil of strip, produced to track, record every coil volume, the letter in process
Breath needs to roll up for every coil and sprays identifiable identifier.
In existing coil of strip coding industry, spray head is directly fixed on some and fixes position by certain production scenes, allows it
Product is mobile to carry out coding, or even having many is all the manual spray printing for using most original, and the position of coil of strip coding has plenty of in coil of strip
Outer ring is circumferential and side surface carries out multirow coding, higher for spray printing position accuracy demand, therefore in existing code spraying technology
It is difficult to realize.Although having the equipment for driving spray head mobile now, it, cannot be some special in the presence of that cannot be automatically positioned
The defects of accurate coding, is realized in position, is unable to satisfy the requirement of accurate coding.
Therefore, it is necessary to design a kind of code-spraying equipment, by intelligent control, the position of required coding, coding can be accurately positioned
Flexibly and easily, meet the management of production process Plays and Process of Information control requires.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of coil of strip coding end effector of robot, mainly
Solve the problem of traditional coding mode cannot be accurately positioned coding position, make coding low precision, it is therefore intended that, pass through design
A kind of coil of strip coding end effector of robot, is allowed to be used cooperatively with six-joint robot, realizes intelligent control, passes through inspection
The outer diameter size and endface position of mechanism detection coil of strip are surveyed, robot control system is defeated by the outer diameter size and endface position of coil of strip
Coding position coordinates are determined after entering robot control program, and the position of required coding can be accurately positioned, make the more flexible convenience of coding,
It meets the management of production process Plays and Process of Information control requires.
To achieve the above object, the technical solution adopted by the present invention to solve the technical problems is: the coil of strip coding is used
End effector of robot is mounted on the 6th shaft end flange of six-joint robot, and the actuator includes support portion and spray
Code portion, the support portion upper end are fixedly connected with the end flange, the support portion lower end and coding portion rotational positioning
Connection；The coding portion includes the position detecting mechanism and carried sprayer for marking code for detecting coil of strip radius size and endface position.
Further, the support portion includes support column and two corner connecting plates, the upper and lower ends point of the support column
It is not provided with end plate I and end plate II, the end plate I is fixedly linked by adapter flange and the end flange, the end plate II
Lower end two sides fix the corner connecting plate respectively, the coding portion is fixed between two corner connecting plates.
Further, the support column is set as aluminum profile.
Further, the corner connecting plate includes Support and rotation connection area, the branch of two corner connecting plates
Support is fixed with support plate between area, and the support plate upper end is fixed on the end plate II, turn of two corner connecting plates
It is connected between dynamic bonding pad with the coding portion.
Further, lightening hole is provided in the corner connecting plate and support plate.
Further, the coding portion includes the box body connecting with the corner connecting plate, the box body it is open-ended
Setting, the box body interior setting position detecting mechanism and carried sprayer for marking code.
Further, be provided with multiple location holes I on the corner connecting plate, multiple location holes I be uniformly distributed and
A circle is surrounded, is provided with the location hole II opposite with each location hole I on the box body, the location hole I and fixed
It is connected between the hole II of position by connection bolt.
Further, the position detecting mechanism includes spring lance and rocker-arm limit switch, the spring lance
One end is stretched out outside the box body, and the other end of the spring lance is contacted with the rocker arm of the rocker-arm limit switch to be connected.
Further, the carried sprayer for marking code and the rocker-arm limit switch are separately fixed at orthogonal inner wall in box body
On.
A kind of method of coil of strip coding, with the end effector of robot, which is characterized in that including following step
It is rapid:
1) the connection bolt between corner connecting plate and box body is adjusted according to the maximum of coil of strip producing line, minimum coil of strip diameter,
Box body is fixed to proper angle, makes the spray printing region of coil of strip in actuator working range；
2) the actuator pose is adjusted, keeps spring lance opposite with coil of strip top side location, then moves institute vertically downward
Stating actuator contradicts spring lance and coil of strip, and spring lance pushes the rocker arm of rocker-arm limit switch, when spring lance is mobile
After 30mm~50mm, rocker-arm limit switch is opened, and detects coil of strip outer diameter；Continue to adjust the actuator pose, make
Spring lance is opposite with steel coil end-face position, and then moving horizontally the actuator contradicts spring lance and steel coil end-face, bullet
Spring lance pushes rocker-arm limit switch rocker arm, and after spring lance mobile 30mm~50mm, rocker-arm limit switch is opened, inspection
Measure the endface position of coil of strip；
3) endface position for the coil of strip outer diameter and coil of strip that robot control system will test inputs six-joint robot
Control program, determine coding position coordinates；
4) continue to adjust the actuator pose, keep the muzzle of carried sprayer for marking code opposite with coding position needed for coil of strip, carry out one
Then the mark spray printing of line character moves the mark spray printing that the actuator completes multirow character
The beneficial effects of the present invention are:
1, the actuator and six-joint robot are used cooperatively, and realize intelligent control, are adjusted according to the outer diameter size of coil of strip
Fixed angle of the coding portion relative to support portion makes the spray printing region of coil of strip in the working range of actuator, then passes through position
Set testing agency's detection coil of strip outer diameter size and steel coil end-face position, robot control system is by the outer diameter size of coil of strip and end face
Position determines coding position coordinates after inputting robot control program, and the position of coding needed for being accurately positioned makes required coding
Position is more accurate, keeps coding effect more preferable, keeps coding flexible and convenient with six-joint robot, meets in production process
Standardized management and Process of Information control require.
2, specifically, support portion includes support column and two corner connecting plates, and coding portion includes setting in box body and box body
The position detecting mechanism and carried sprayer for marking code set, are provided with multiple location holes I on corner connecting plate, multiple location holes I be uniformly distributed and
A circle is surrounded, the location hole II opposite with each location hole I is provided on box body, is led between location hole I and location hole II
It crosses connection bolt to be connected, when needing to adjust the fixed angle of box body, dismantling connection bolt rotates box body, makes to position accordingly
Hole I and location hole II are opposite, then are fixed by connecting bolt, can angle adjustment carried sprayer for marking code in equal increments angle, adjust
Convenient, angular adjustment precision height, and the connection structure firm stable of support portion and coding portion；
3, specifically, which includes spring lance and rocker-arm limit switch, and one end of spring lance is stretched
The outer diameter and endface position of box vitro detection coil of strip out, the other end of spring lance contact phase with the rocker arm of rocker-arm limit switch
Even, it pushes rocker-arm limit switch to open by spring lance, completes position detection, this mechanical position detecting mechanism peace
It is complete reliable, and carried sprayer for marking code and rocker-arm limit switch are separately fixed in box body on orthogonal inner wall, rationally distributed, phase
It mutually not will receive interference, keep overall structure reliable and stable.
To sum up, the actuator overall structure is simple, safe and reliable, easy to maintain, is used cooperatively with six-joint robot, realizes
Intelligent control, detects the outer diameter size and endface position of coil of strip by testing agency, robot control system will coil of strip it is outer
Coding position coordinates are determined after diameter size and endface position input robot control program, and the position of required coding can be accurately positioned
It sets, makes the more flexible convenience of coding, meet the management of production process Plays and Process of Information control requires.
Detailed description of the invention
Below to each width attached drawing of description of the invention expression content and figure in label be briefly described:
Fig. 1 is the structural diagram of the present invention；
Label in above-mentioned figure is equal are as follows: 1. support portions, 11. support columns, and 12. corner connecting plates, 121. Support, 122. turns
Dynamic bonding pad, 123. location holes I, 13. end plates I, 14. end plates II, 15. adapter flanges, 16. support plates, 17. lightening holes, 18. connect
Connecting bolt, 2. coding portions, 21. position detecting mechanisms, 211. spring lances, 212. rocker-arm limit switches, 22. carried sprayer for marking code, 23.
Box body, 231. location holes II.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in embodiment is clearly and completely described, the following examples are intended to illustrate the invention, but
It is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Specific embodiment of the present invention are as follows: as shown in Figure 1, a kind of coil of strip coding end effector of robot, installation
On the 6th shaft end flange of six-joint robot, six-joint robot therein is six axis joint formula robots, six-joint robot
Six axis from bottom to top name, the 6th axis therein six-joint robot actuating station (end), the actuator include support
Portion 1 and coding portion 2,1 upper end of support portion are bolted to connection with end flange, and 1 lower end of support portion and the rotation of coding portion 2 are fixed
Position connection；Coding portion 2 includes the position detecting mechanism 21 and carried sprayer for marking code 22 of detection coil of strip radius size and endface position.The execution
Device is used cooperatively with six-joint robot, realizes intelligent control, adjusts coding portion 2 relative to support according to the outer diameter size of coil of strip
The fixed angle in portion 1 makes the spray printing region of coil of strip in actuator working range, then detects steel by position detecting mechanism 21
The outer diameter size and endface position of coil of strip are inputted robot control by the outer diameter of volume and steel coil end-face position, robot control system
Coding position coordinates are determined after processing procedure sequence, the position of coding needed for being accurately positioned keeps the position of required coding more accurate, makes coding
Effect is more preferable, keeps coding flexible and convenient with six-joint robot, meets the management of production process Plays and information
Change process control requirements.
Specifically, which includes support column 11 and two corner connecting plates 12, in order to mitigate weight, support column 11
It is set as aluminum profile, a plurality of convex ribs are arranged in surface along its length, and the upper and lower ends of support column 11 are respectively arranged with end plate I
13 and end plate II 14, the upper and lower ends of support column 11 can be connect by multiple installation corner fittings with end plate I 13 and end plate II 14, the peace
Filling corner fittings includes three orthogonal plate faces, and one of plate face is fixed by screw and end plate I 13 or end plate II 14, in addition
Two plate faces are fixed by screw and the convex ribs on 11 surface of support column；End plate I 13 is fixed by adapter flange 15 with end flange
It is connected, end plate I 13 is bolted with adapter flange 15 to be connected, and corner connecting plate is fixed in the lower end two sides of end plate II 14 respectively
12, coding portion 2 is fixed between corner connecting plate 12, and specifically, corner connecting plate 12 includes Support 121 and rotation connection area
122, support plate 16 is fixed between the Support 121 of two corner connecting plates 12, and 16 upper end of support plate is bolted on
On end plate II 14, make to surround a fixed cavity between Support 121 and support plate 16, increases the strong of 12 entirety of corner connecting plate
Degree and stability are connected between the rotation connection area 122 of two corner connecting plates 12 with coding portion 2, make coding portion 2 can be around rotation
Bonding pad 122 rotates 120 °；In order to mitigate the weight of support portion 1, loss of weight is provided in corner connecting plate 12 and support plate 16
Hole 17, and the width for being rotatablely connected area 122 is less than the width of Support 121.
Specifically, coding portion 2 includes the box body 23 connecting with corner connecting plate 12, and position detecting mechanism is arranged in box body 23
21 and carried sprayer for marking code 22, the open-ended setting of box body 23, it is easily installed and dismantles position detecting mechanism 21 and carried sprayer for marking code therein
22, and avoid the case where position detecting mechanism 21 acts and touches 23 inner wall of box body；The structure of box body 23 therein includes
It is screwed two connected fixed plates, a top plate, a bottom plate, a backboard and a partition, fixation therein
Plate is fixedly linked with corner connecting plate 12, the fixed top plate of two dead plate upper ends, the fixed bottom plate in two fixed plate lower ends, wherein two
There is through-hole at the junction stationary barrier of a fixed plate and top plate and bottom plate, the center of partition, convenient for passing through cable, liquid injecting pipeline
It is connected to after the through-hole on carried sprayer for marking code 22, box body 23 is divided into two by the intersection stationary backplate of partition and top plate and bottom plate, partition
Part, a part are connected with corner connecting plate 12, and space is smaller, setting position detecting mechanism 21 and carried sprayer for marking code inside another part
22, inner space is larger.The box body 23 is lightweight hard alloy metalwork, is bolted each other, and overall structure is simple, strong
Degree is high, safe and reliable.
Specifically, multiple location holes I 123 are provided on corner connecting plate 12, multiple location holes I 123 are uniformly distributed and enclose
At a circle, the incremental angle between multiple location holes I 123 may be configured as 15 ° or smaller angle, it can be achieved that 0 °~
It is adjusted within the scope of 120 ° by corresponding incremental angle, the location hole opposite with each location hole I 123 is provided on box body 23
II 231, it is connected between location hole I 123 and location hole II 231 by connection bolt 18, when the fixed angles for needing to adjust box body 23
When spending, dismantling connection bolt rotates box body 23, keeps corresponding location hole I opposite with location hole II, then solid by connection bolt
It is fixed, can angle adjustment carried sprayer for marking code 22 in equal increments angle, it is easy to adjust, angular adjustment precision is high, and 1 He of support portion
The connection structure firm stable in coding portion 2.
Specifically, position detecting mechanism 21 includes spring lance 211 and rocker-arm limit switch 212, in spring lance 211
Spring is set, when not stressing can elastic reset, one end of spring lance 211 stretches out outside box body 23, the other end of spring lance 211
It contacts and is connected with the rocker arm of rocker-arm limit switch 212, push rocker-arm limit switch 212 to open by spring lance 211, it is complete
At position detection, this mechanical position detecting mechanism 21 is safe and reliable, and carried sprayer for marking code 22 and rocker-arm limit switch 212
It is separately fixed in box body 23 on orthogonal inner wall, it is rationally distributed, it not will receive interference mutually, make overall structure stabilization can
It leans on.
With the end effector of robot to the method for coil of strip coding, comprising the following steps:
1) according to the connection spiral shell between the maximum of coil of strip producing line, minimum coil of strip diameter adjustment corner connecting plate 12 and box body 23
Box body 23 is fixed to proper angle, makes the spray printing region of coil of strip in actuator working range by bolt 18；
2) the actuator pose is adjusted, keeps spring lance 211 opposite with coil of strip top side location, then moves vertically downward
The actuator contradicts spring lance 211 and coil of strip, and spring lance 211 pushes the rocker arm of rocker-arm limit switch 212, works as bullet
After the mobile 30mm~50mm of spring lance 211, rocker-arm limit switch 212 is opened, and detects coil of strip outer diameter；Continue to adjust institute
Actuator pose is stated, keeps spring lance 211 opposite with steel coil end-face position, then moving horizontally the actuator makes spring lance
211 contradict with steel coil end-face, and spring lance 211 pushes 212 rocker arm of rocker-arm limit switch, as the mobile 30mm of spring lance 211
After~50mm, rocker-arm limit switch 212 is opened, and detects the endface position of coil of strip；
3) endface position for the coil of strip outer diameter and coil of strip that robot control system will test inputs six-joint robot
Control program, determine coding position coordinates；
4) continue to adjust the actuator pose, keep the muzzle of carried sprayer for marking code 22 opposite with coding position needed for coil of strip, carry out
Then the mark spray printing of a line character moves the mark spray printing that the actuator completes multirow character.
To sum up, the actuator overall structure is simple, safe and reliable, easy to maintain, is used cooperatively with six-joint robot, realizes
Intelligent control, detects the outer diameter size and endface position of coil of strip by testing agency, robot control system will coil of strip it is outer
Coding position coordinates are determined after diameter size and endface position input robot control program, and the position of required coding can be accurately positioned
It sets, makes the more flexible convenience of coding, meet the management of production process Plays and Process of Information control requires.
The above, only explain through diagrams some principles of the invention, and this specification is not intended to limit to the present invention
In the shown specific structure and the scope of application, therefore all corresponding modifications that may be utilized and equivalent,
Belong to the applied the scope of the patents of the present invention.
Claims (10)
1. a kind of coil of strip coding end effector of robot, which is characterized in that be mounted on the 6th shaft end of six-joint robot
On flange, the actuator includes support portion (1) and coding portion (2), and support portion (1) upper end is fixed with the end flange
Connection, support portion (1) lower end is connect with coding portion (2) rotational positioning；The coding portion (2) includes detection coil of strip half
The position detecting mechanism (21) and carried sprayer for marking code (22) of diameter size and endface position.
2. coil of strip coding end effector of robot according to claim 1, it is characterised in that: the support portion (1)
Including support column (11) and two corner connecting plates (12), the upper and lower ends of the support column (11) are respectively arranged with end plate I
(13) it is fixedly linked by adapter flange (15) with the end flange with end plate II (14), the end plate I (13), the end plate
The corner connecting plate (12) is fixed in the lower end two sides of II (14) respectively, fixes the coding between two corner connecting plates (12)
Portion (2).
3. coil of strip coding end effector of robot according to claim 2, it is characterised in that: the support column (11)
It is set as aluminum profile.
4. coil of strip coding end effector of robot according to claim 2, it is characterised in that: the corner connecting plate
It (12) include Support (121) and rotation connection area (122), between the Support (121) of two corner connecting plates (12)
It is fixed with support plate (16), support plate (16) upper end is fixed on the end plate II (14), two corner connecting plates
(12) it is connected between rotation connection area (122) with the coding portion (2).
5. coil of strip coding end effector of robot according to claim 4, it is characterised in that: the corner connecting plate
(12) and in support plate (16) it is provided with lightening hole (17).
6. according to coil of strip coding end effector of robot described in claim 2~4 any one, it is characterised in that: institute
Stating coding portion (2) includes the box body (23) connecting with the corner connecting plate (12), the open-ended setting of the box body (23),
The setting position detecting mechanism (21) and carried sprayer for marking code (22) in the box body (23).
7. coil of strip coding end effector of robot according to claim 6, it is characterised in that: the corner connecting plate
(12) multiple location holes I (123) are provided on, multiple location holes I (123) are uniformly distributed and surround a circle, described
Be provided with the location hole II (231) opposite with each location hole I (123) on box body (23), the location hole I (123) and
It is connected between location hole II (231) by connection bolt (18).
8. coil of strip coding end effector of robot according to claim 6, it is characterised in that: the position detection machine
Structure (21) includes spring lance (211) and rocker-arm limit switch (212), described in one end of the spring lance (211) is stretched out
Outside, the other end of the spring lance (211) is contacted with the rocker arm of the rocker-arm limit switch (212) to be connected box body (23).
9. coil of strip coding end effector of robot according to claim 8, it is characterised in that: the carried sprayer for marking code (22)
It is separately fixed in box body (23) on orthogonal inner wall with the rocker-arm limit switch (212).
10. a kind of method of coil of strip coding, with end effector of robot as claimed in any one of claims 1 to 9 wherein,
It is characterized in that, comprising the following steps:
1) according to the connection spiral shell between the maximum of coil of strip producing line, minimum coil of strip diameter adjustment corner connecting plate (12) and box body (23)
Box body (23) are fixed to proper angle, make the spray printing region of coil of strip in actuator working range by bolt (18)；
2) the actuator pose is adjusted, keeps spring lance (211) opposite with coil of strip top side location, then moves institute vertically downward
Stating actuator contradicts spring lance (211) and coil of strip, and spring lance (211) pushes the rocker arm of rocker-arm limit switch (212),
After spring lance (211) mobile 30mm~50mm, rocker-arm limit switch (212) is opened, and detects coil of strip outer diameter；After
The continuous adjustment actuator pose, keeps spring lance (211) opposite with steel coil end-face position, then moves horizontally the actuator
Contradict spring lance (211) and steel coil end-face, spring lance (211) pushes rocker-arm limit switch (212) rocker arm, works as spring
After the mobile 30mm~50mm of lance (211), rocker-arm limit switch (212) is opened, and detects the endface position of coil of strip；
3) control of the endface position input six-joint robot for the coil of strip outer diameter and coil of strip that robot control system will test
Processing procedure sequence determines coding position coordinates；
4) continue to adjust the actuator pose, keep the muzzle of carried sprayer for marking code (22) opposite with coding position needed for coil of strip, carry out one
Then the mark spray printing of line character moves the mark spray printing that the actuator completes multirow character.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625288.4A CN110293568A (en) | 2019-07-11 | 2019-07-11 | A kind of coil of strip coding end effector of robot and the method for coil of strip coding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625288.4A CN110293568A (en) | 2019-07-11 | 2019-07-11 | A kind of coil of strip coding end effector of robot and the method for coil of strip coding |
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| Publication Number | Publication Date |
|---|---|
| CN110293568A true CN110293568A (en) | 2019-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910625288.4A Pending CN110293568A (en) | 2019-07-11 | 2019-07-11 | A kind of coil of strip coding end effector of robot and the method for coil of strip coding |
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| CN (1) | CN110293568A (en) |
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|---|---|---|---|---|
| CN104057720A (en) * | 2014-06-30 | 2014-09-24 | 兰州理工大学 | Special automatic positioning mechanism for aluminum ingot laser marking |
| CN206067196U (en) * | 2016-08-29 | 2017-04-05 | 汕头市俊国机电科技有限公司 | A kind of mechanical hand spatial impression answers ink discharge device |
| CN108297549A (en) * | 2018-01-29 | 2018-07-20 | 福建远创喷码系统科技有限公司 | A kind of steel pipe label spraying method and equipment |
| CN208584910U (en) * | 2018-07-12 | 2019-03-08 | 林崇璘 | Spray printing mechanical arm |
| US20190176482A1 (en) * | 2016-08-30 | 2019-06-13 | The Boeing Company | Adaptable Surface Treatment Repair System |
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2019
- 2019-07-11 CN CN201910625288.4A patent/CN110293568A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057720A (en) * | 2014-06-30 | 2014-09-24 | 兰州理工大学 | Special automatic positioning mechanism for aluminum ingot laser marking |
| CN206067196U (en) * | 2016-08-29 | 2017-04-05 | 汕头市俊国机电科技有限公司 | A kind of mechanical hand spatial impression answers ink discharge device |
| US20190176482A1 (en) * | 2016-08-30 | 2019-06-13 | The Boeing Company | Adaptable Surface Treatment Repair System |
| CN108297549A (en) * | 2018-01-29 | 2018-07-20 | 福建远创喷码系统科技有限公司 | A kind of steel pipe label spraying method and equipment |
| CN208584910U (en) * | 2018-07-12 | 2019-03-08 | 林崇璘 | Spray printing mechanical arm |
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