CN111994407A - End effector of robot for code spraying and labeling of steel coil - Google Patents
End effector of robot for code spraying and labeling of steel coil Download PDFInfo
- Publication number
- CN111994407A CN111994407A CN202010784285.8A CN202010784285A CN111994407A CN 111994407 A CN111994407 A CN 111994407A CN 202010784285 A CN202010784285 A CN 202010784285A CN 111994407 A CN111994407 A CN 111994407A
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- fixing plate
- labeling
- fixing
- spring
- label
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
- B65C9/18—Label feeding from strips, e.g. from rolls
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- 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
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
- B65C9/36—Wipers; Pressers
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- Labeling Devices (AREA)
Abstract
The invention provides an end effector of a robot for code spraying and labeling of a steel coil, which comprises a strip fixture fixing plate, a transfer flange, a label absorbing and labeling mechanism, an ink-jet printer fixing mechanism and an anti-collision detection plate, wherein the strip fixture fixing plate is provided with a plurality of through holes; the adapter flange is fixed on the strip fixture fixing plate and is used for being connected and fixed on a robot tail end flange; the strip fixture fixing plate can extend into the steel coil core to complete the labeling function, the label absorbing and labeling mechanism is fixed on one side of the strip fixture fixing plate, the ink jet numbering machine fixing mechanism is fixed on the other side of the strip fixture fixing plate, and the mounting position of the adapter flange is close to one side of the ink jet numbering machine fixing mechanism; the end part of the label absorbing and labeling mechanism is provided with an anti-collision detection plate through a sliding rail and a first groove-shaped photoelectric switch on the side; can accomplish coil of strip surface simultaneously and spout sign indicating number, inner core and surface label and paste, cooperate industrial robot to use, can improve the coil of strip and spout the work efficiency that sign indicating number was labeled, job stabilization is reliable, and the success rate of labeling is high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an end effector of a robot for code spraying and labeling of steel coils.
Background
In the production process of the steel coil, in order to track and record the information of each steel coil, a label is required to be pasted on the inner core and the outer surface of each steel coil on the saddle of the walking beam after the steel coil is off-line, the material number is sprayed on the outer surface, and the code spraying and labeling work is manually completed. The mode of code spraying and labeling is manually completed, so that the problems of wrong code spraying and label pasting frequently occur, and the mode needs to enter a working area of equipment, so that the danger is high, the labor intensity is high, and the working efficiency is low.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides the end effector of the robot for code spraying and labeling of the steel coil, which can simultaneously finish code spraying on the outer surface of the steel coil and label pasting on the inner core and the outer surface of the steel coil, is used in cooperation with an industrial robot, can improve the work efficiency of code spraying and labeling of the steel coil, and has stable and reliable work and high labeling success rate.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a coil of strip spouts a yard end effector of robot for labelling, includes rectangular anchor clamps fixed plate, adaptor flange, inhales mark labeller constructs, ink jet numbering machine fixed establishment, anticollision detection board.
The adapter flange is fixed on the strip fixture fixing plate and is used for being connected and fixed on a terminal flange of the robot.
Rectangular anchor clamps fixed plate can visit coil of strip core and accomplish the mark function of pasting, inhales the mark mechanism of pasting and fixes in rectangular anchor clamps fixed plate one side, and ink jet numbering machine fixed establishment fixes at rectangular anchor clamps fixed plate opposite side, and adapter flange mounted position is close to ink jet numbering machine fixed establishment one side.
The end part of the label absorbing and labeling mechanism is provided with an anti-collision detection plate through a sliding rail and a sliding block, and a groove type photoelectric switch I is arranged on the side of the anti-collision detection plate.
The strip-shaped fixing plate is sealed by a protective cover, and an air pipe, a cable, a vacuum generator and a vacuum pressure switch are arranged in the protective cover.
The label absorbing and labeling mechanism consists of a guide rod I, a spring II, a guide rail sliding block, a labeling head fixing plate, a sucker fixing base, a label absorbing head fixing plate I, a label absorbing head fixing plate II, a press roller bracket, a vacuum pipe joint, a vacuum sponge and a groove-shaped photoelectric switch II; the guide rail is fixed on the inner side of the labeling head fixing plate and is connected with the sucker fixing seat through the connecting block, the connecting block is rotationally connected with one end of the sucker fixing seat, and a bushing is arranged in the rotationally connected part; the spring II penetrates through the guide rod I and then is fixed with the upper end of the guide rail sliding block, and the guide rail sliding block is arranged on the guide rail; the compression roller bracket is arranged on two sides of the first head absorption head fixing plate, the compression roller is arranged on the compression roller bracket, the second head absorption head fixing plate is arranged below the first head absorption head fixing plate, and a sealing ring is arranged between the two head absorption head fixing plates; the vacuum sponge punches, is adhered below the second label absorbing head fixing plate, and the groove-shaped photoelectric switch is arranged on the inner side of the second label absorbing head fixing plate.
The anti-collision detection plate is connected to the upper end face of one side of the long-strip fixture fixing plate through the first sliding rail, the inner side of the anti-collision detection plate is connected to the labeling head fixing plate through the spring guide rod screw, the spring is sleeved in the spring guide rod screw, the lower portion of the anti-collision detection plate is connected with the sliding block fixing plate, the sliding block fixing plate is connected with the labeling head fixing plate through the second sliding rail, the photoelectric baffle is installed on the sliding block fixing plate, and the upper portion of one side of the second sliding rail.
The vacuum generator is used for generating negative pressure for adsorbing the label at the position of the vacuum sponge, and the vacuum pressure switch is used for detecting whether the label is adsorbed or not.
The code spraying mechanism consists of a code spraying machine mounting plate, a spraying head, a fixing frame, a support fixing block, a third sliding rail, a spring fixing block, a photoelectric support, a third spring, a second guide rod, a third groove-shaped photoelectric switch, a limit screw and a limit block; the mounting plate of the ink-jet printer is connected with the strip fixing plate, and the fixing frame and the support fixing block are used for fixing the ink-jet head; the fixed frame is connected with the lower side of the mounting plate of the ink-jet printer by a third sliding rail; and a third spring is sleeved on the limiting screw, one end of the third spring is fixed on the spring fixing block, and the other end of the third spring is connected with the support fixing block.
A spring fixing block is installed below a hollow part in the middle of an ink jet printer installation plate, a photoelectric check block is sleeved on one side of a screw cap of a guide rod II, the other side of the screw cap of the guide rod II is connected with the spring fixing block after being sleeved with a spring, a limiting block is installed on the outer side of the screw cap of the guide rod II, and a groove-shaped photoelectric switch III is installed on a.
Compared with the prior art, the invention has the beneficial effects that:
1) the end effector of the robot for code spraying and labeling of the steel coil can be applied to the strip fixture fixing plate, can conveniently probe into the inner core of the steel coil to paste a label, and can paste the label on the outer surface of the steel coil;
the vacuum pressure switch can determine whether the label is absorbed correctly or not and whether the label is adhered in place or not;
the vacuum sponge at the tail end of the label absorbing body is soft, so that the label can be prevented from being damaged when being stuck;
the anti-collision detection plate can effectively prevent the actuator from being impacted and damaged after the actuator enters due to the core collapse of the steel coil;
the code spraying mechanism is matched with a dot-matrix code spraying machine to spray codes on the outer surface of the steel coil;
the code spraying mechanism fixing frame can slide on the code spraying machine mounting plate, and the design can accurately control the positions of the code spraying head and the surface of the steel coil, so that the code spraying effect is ensured;
2) the robot end effector for code spraying and labeling of the steel coil can reliably complete label pickup, label sticking of the inner core of the steel coil, label sticking of the outer surface of the steel coil and code spraying of the outer surface of the steel coil, and has the advantages of accurate position of code spraying of labeling, high efficiency, stability and reliability.
Drawings
Fig. 1 is an overall structure diagram of an end effector of a robot for code spraying and labeling of a steel coil according to the present invention;
FIG. 2 is a structural view of a label attracting mechanism of the present invention;
FIG. 3 is a view showing the lower structure of the fixing mechanism of the ink jet printer according to the present invention;
FIG. 4 is a front view of the ink jet printer securing mechanism of the present invention;
fig. 5 is a top view of the fixing mechanism of the ink jet printer of the present invention.
In the figure: 1-strip fixture fixing plate 2-adapter flange 3-shield 14-shield 25-vacuum pressure switch 6-slide rail one 7-anti-collision detection plate 8-spring guide rod screw 9-spring one 10-slider fixing plate 11-groove type photoelectric switch one 12-slide rail two 13-photoelectric baffle 14-guide rod one 15-spring two 16-connecting plate 17-labeling head fixing plate 18-groove type photoelectric switch two 19-guide rail slider 20-guide rail 21-connecting block 22-suction cup fixing seat 23-vacuum pipe joint 24-compression roller 25-suction head fixing plate one 26-suction head fixing plate two 27-compression roller bracket 28-vacuum sponge 29-spraying head 30-fixing bracket 31-bracket fixing block 32-slide rail pressure switch The three-arm photoelectric switch comprises a third 33-an ink jet printer mounting plate 34-a spring fixing block 35-a photoelectric bracket 36-a third spring 37-a third groove type photoelectric switch 38-a second guide rod 39-a photoelectric stopper 40-a limiting block.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 1, an end effector of a robot for code spraying and labeling of a steel coil comprises a long-strip fixture fixing plate 1, a transfer flange 2, a label absorbing and labeling mechanism, a code spraying machine fixing mechanism and an anti-collision detection plate 7;
the adapter flange 2 is fixed on the strip fixture fixing plate 1 and is used for being connected and fixed on a robot tail end flange;
the strip fixture fixing plate 1 can extend into a steel coil core to complete a labeling function, the label absorbing and labeling mechanism is fixed on one side of the strip fixture fixing plate, the ink jet printer fixing mechanism is fixed on the other side of the strip fixture fixing plate, and the mounting position of the adapter flange 2 is close to one side of the ink jet printer fixing mechanism;
the long jig fixing plate 1 is closed by a shield (shield 3, shield 4), and an air pipe, a cable, a vacuum generator, and a vacuum pressure switch 5 are arranged in the shield (shield 3, shield 4).
The end part of the label sticking mechanism is provided with an anti-collision detection plate 7 through a sliding rail sliding block, and a groove-shaped photoelectric switch I11 is arranged on the side of the label sticking mechanism; the anti-collision detection plate 7 is connected to the upper end face of one side of the long-strip fixture fixing plate 1 through a first sliding rail 6, the inner side of the anti-collision detection plate 7 is connected to a labeling head fixing plate 17 of a label absorbing and labeling mechanism through a spring guide rod screw 8, the spring guide rod screw 8 is sleeved in a first spring 9, a slider fixing plate 10 is connected to the lower portion of the anti-collision detection plate 7, the slider fixing plate 10 is connected with the labeling head fixing plate 17 through a second sliding rail 12, a photoelectric baffle 13 is installed on the slider fixing plate 10, and the first groove-shaped photoelectric switch 11 is installed above one side of the.
The label sticking mechanism consists of a guide rod I14, a spring II 15, a guide rail 20, a guide rail slide block 19, a label sticking head fixing plate 17, a sucker fixing base 22, a label sticking head fixing plate I25, a label sticking head fixing plate II 26, a pressing roller 24, a pressing roller bracket 27, a vacuum pipe joint 23, a vacuum sponge 28 and a groove-shaped photoelectric switch II 18; the guide rail 20 is fixed on the inner side of the head attaching fixing plate 17 and is connected with the sucker fixing seat 22 through the connecting block 21, the connecting block 21 is rotatably connected with the sucker fixing seat 22, and a bushing is arranged in a rotary connecting part; the second spring 15 penetrates through the first guide rod 14 and then is fixed with the upper end of the guide rail sliding block 19, and the guide rail sliding block 19 is arranged on the guide rail 20; the compression roller bracket 27 is arranged at two sides of the first header suction head fixing plate 25, the compression roller 24 is arranged on the compression roller bracket 27, the second header suction head fixing plate 26 is arranged below the first header suction head fixing plate 25, and a sealing ring is arranged between the two header suction head fixing plates; the vacuum sponge 28 is punched and is adhered below the second head absorption fixing plate 26.
The guide rod 14 is sleeved in the spring II 15 and then penetrates into the connecting plate 16, the connecting plate 16 is connected with the upper end of the inner side of the labeling head fixing plate 17, the lower end of the guide rod 14 is connected with the guide rail sliding block 19, the outer side of the guide rail sliding block 19 is connected with the labeling head fixing plate 17 through the guide rail 20, the sucking disc fixing seat 22 is connected with the guide rail sliding block 19 through the connecting block 21, the vacuum tube connector 23 at the upper end of the first suction head fixing plate 25 is communicated with the inner cavity of the first suction head fixing plate and is used for being connected with a vacuum pipeline, the inner cavity of the second suction head fixing plate 26.
The left side of the first suction header fixing plate 25 is provided with a compression roller bracket 27, and the compression roller 24 is arranged in the compression roller bracket 27. A groove-shaped photoelectric switch II 18 is arranged on the inner side of the labeling head fixing plate 17.
The vacuum generator is used for generating negative pressure for adsorbing the label at the vacuum sponge 28, and the vacuum pressure switch 5 is used for detecting whether the label is adsorbed or not.
The code spraying mechanism consists of a code spraying machine mounting plate 33, a code spraying head 29, a fixing frame 30, a support fixing block 31, a third sliding rail 32, a spring fixing block 34, a photoelectric support 35, a third spring 36, a second guide rod 38, a third groove-shaped photoelectric switch 37 and a limiting block 40; the inkjet printer mounting plate 33 is connected with the strip fixture fixing plate 1, and the fixing frame 30 and the support fixing block 31 are used for fixing the inkjet head 29; the fixed frame 30 is connected with the lower side of the ink-jet printer mounting plate 33 through a third sliding rail 32; the second guide rod 38 is sleeved with a third spring 36, one end of the third spring is fixed on the spring fixing block 34, and the other end of the third spring is connected with the bracket fixing block 31.
A spring fixing block 34 is installed below a hollow part in the middle of the inkjet printer installation plate 33, one side of a screw cap of the second guide rod 38 is sleeved with a photoelectric stop block 39, the other side of the screw cap of the second guide rod 38 is sleeved with the third spring 36 and then connected with the spring fixing block 34, a limiting block 40 is installed on the outer side of the screw cap of the second guide rod 38, and a groove-shaped photoelectric switch third 37 is installed on the photoelectric support.
The working process of the invention is as follows:
1. after the steel coil is in place, the vacuum generator is started, so that the lower air hole of the vacuum sponge 28 forms negative pressure, the end effector is driven by the robot to move to the label outlet position of the printer, the vacuum sponge 28 is kept horizontal to the label outlet, and the label printed out slides to the vacuum sponge 28 along the compression roller 24 and is adsorbed by the negative pressure.
2. According to the information of the inner diameter and the outer diameter of the steel coil received from a production line, the robot drives the tail end executing mechanism to move to the position 5cm above the lower surface of the inner core of the steel coil, and the labeling part of the strip fixture fixing plate 1 is slowly inserted into the inner core of the steel coil.
3. If the strip fixture fixing plate collides when probing into the roll core due to core collapse or wrong roll diameter data of the inner core of the steel roll, the anti-collision detection plate 7 can move inwards along the first slide rail 6 and the second slide rail 12, when the photoelectric baffle 13 moves to the first groove-shaped photoelectric switch 11, the control system judges that the collision is caused, stops probing continuously, and sends out an alarm prompt so as to avoid damaging equipment and the steel roll due to collision.
4. After the label adsorbed by the vacuum sponge 28 reaches the position calculated by the control system, the label is slowly pressed to the surface of the steel plate, in order to ensure the firmness of label adhesion, the label is continuously pressed after contacting the surface of the steel coil, the guide rail slide block 19 compresses the spring 15 along the guide rail 20 due to stress, the pressure is stopped when the guide rail slide block 19 moves to the second groove-shaped photoelectric switch 18, the vacuum generator is closed, and the label is firmly adhered to the surface of the inner core of the steel coil.
5. The robot drives the tail end executing mechanism to lift up to the position 5cm away from the inner surface of the steel coil, moves out of the inner core of the steel coil, returns to the original position, and waits for the next work.
6. The tail end executing mechanism can also paste the label on the outer surface of the steel coil, and the working principle is the same as that of the tail end executing mechanism, and the robot drives the tail end executor to change the acting position.
7. When code spraying is carried out, the computer receives the coil number information given by the production line, the code spraying function is started, the robot drives the end effector to move to a position 5cm away from the position, needing code spraying, of the outer surface of the steel coil, and the spraying head 29 is kept vertical and tangent to the outer surface of the steel coil.
8. The robot drives the end effector to slowly approach the surface of the steel coil, the end effector is continuously pressed down after contacting the steel coil, at the moment, the spraying head 29 drives the fixing frame 30 to compress the spring III 36, and when the photoelectric stop block 39 moves to the position of the groove type photoelectric switch III 37, the pressing-down is stopped.
After the robot drives the end effector to lift up for 3cm, the distance between the spraying port 29 and the surface of the steel coil is kept to start to move transversely along the surface of the steel coil at the position of 2cm, meanwhile, the computer sends a code spraying starting command to the spraying port 29, and after the end effector finishes moving, clear and attractive numbers can be finished through dot matrix code spraying.
According to the robot end effector for code spraying, inner core labeling and outer surface labeling of the steel coil outer surface, the robot end effector for code spraying, labeling and the like of the steel coil is designed, is installed at the tail end of a six-axis robot, is matched with an automatic control program, a dot matrix code spraying machine and an automatic peeling printer, achieves intelligent control, stops at a walking beam after the steel coil is off line, detects the outer diameter and the coil width of the steel coil through laser ranging, can accurately determine the code spraying and labeling positions through the control program after the robot receives specification information of the steel coil, and is matched with the dot matrix code spraying machine and the automatic peeling printer to print labels, so that code spraying, inner core labeling and outer surface labeling of the steel coil are completed automatically. The actuator is simple in overall structure, safe, reliable and convenient to maintain, is matched with a six-axis robot for use, can realize code spraying of the inner core of the steel coil and the label pasted on the outer surface and the outer surface, is uniform in label pasting position and code spraying position, and meets the requirements of standardized management and informatization process control in the production process.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (6)
1. An end effector of a robot for code spraying and labeling of a steel coil is characterized by comprising a strip fixture fixing plate, a transfer flange, a label absorbing and labeling mechanism, an ink-jet printer fixing mechanism and an anti-collision detection plate;
the adapter flange is fixed on the strip fixture fixing plate and is used for being connected and fixed on a robot tail end flange;
the strip fixture fixing plate can extend into the steel coil core to complete the labeling function, the label absorbing and labeling mechanism is fixed on one side of the strip fixture fixing plate, the ink jet numbering machine fixing mechanism is fixed on the other side of the strip fixture fixing plate, and the mounting position of the adapter flange is close to one side of the ink jet numbering machine fixing mechanism;
the end part of the label absorbing and labeling mechanism is provided with an anti-collision detection plate through a sliding rail and a first groove-shaped photoelectric switch on the side;
the strip-shaped fixing plate is sealed by a protective cover, and an air pipe, a cable, a vacuum generator and a vacuum pressure switch are arranged in the protective cover.
2. The end effector of the robot for code spraying and labeling of the steel coil according to claim 1, wherein the label absorbing and labeling mechanism comprises a guide rod I, a spring II, a guide rail sliding block, a labeling head fixing plate, a sucking disc fixing base, a label absorbing head fixing plate I, a label absorbing head fixing plate II, a pressing roller bracket, a vacuum pipe joint, a vacuum sponge and a groove-shaped photoelectric switch II; the guide rail is fixed on the inner side of the labeling head fixing plate and is connected with the sucker fixing seat through the connecting block, the connecting block is rotationally connected with one end of the sucker fixing seat, and a bushing is arranged in the rotationally connected part; the spring II penetrates through the guide rod I and then is fixed with the upper end of the guide rail sliding block, and the guide rail sliding block is arranged on the guide rail; the compression roller bracket is arranged on two sides of the first head absorption head fixing plate, the compression roller is arranged on the compression roller bracket, the second head absorption head fixing plate is arranged below the first head absorption head fixing plate, and a sealing ring is arranged between the two head absorption head fixing plates; the vacuum sponge punches, is adhered below the second label absorbing head fixing plate, and the groove-shaped photoelectric switch is arranged on the inner side of the second label absorbing head fixing plate.
3. The end effector of a robot for code spraying and label sticking of steel coils as claimed in claim 2, wherein the anti-collision detection plate is connected to the upper end surface of one side of the long fixture fixing plate through a first slide rail, the inner side of the anti-collision detection plate is connected to the label fixing plate through a spring guide rod screw, the spring guide rod screw is sleeved in the spring, a slide block fixing plate is connected to the lower side of the anti-collision detection plate, the slide block fixing plate is connected to the label fixing plate through a second slide rail, a photoelectric baffle is mounted on the slide block fixing plate, and a first groove-shaped photoelectric switch is mounted above one side of the second slide.
4. The end effector of the robot for code spraying and labeling of the steel coil as claimed in claim 2, wherein the vacuum generator is configured to generate a negative pressure for adsorbing the label at the vacuum sponge, and the vacuum pressure switch is configured to detect whether the label is adsorbed.
5. The end effector of the robot for code spraying and labeling of the steel coil according to claim 1, wherein the code spraying mechanism is composed of a code spraying machine mounting plate, a code spraying head, a fixing frame, a support fixing block, a sliding rail III, a spring fixing block, a photoelectric support, a spring III, a guide rod II, a groove type photoelectric switch III, a limiting screw and a limiting block; the mounting plate of the ink-jet printer is connected with the strip fixing plate, and the fixing frame and the support fixing block are used for fixing the ink-jet head; the fixed frame is connected with the lower side of the mounting plate of the ink-jet printer by a third sliding rail; and a third spring is sleeved on the limiting screw, one end of the third spring is fixed on the spring fixing block, and the other end of the third spring is connected with the support fixing block.
6. The end effector of the robot for code spraying and labeling of the steel coil as claimed in claim 5, wherein a spring fixing block is installed below a hollow part in the middle of the mounting plate of the code spraying machine, the photoelectric stop block is sleeved on one side of a screw cap of the guide rod II, the spring fixing block is connected with the other side of the screw cap of the guide rod II after being sleeved in the spring, a limiting block is installed on the outer side of the screw cap of the guide rod II, and a groove-shaped photoelectric switch III is installed on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010784285.8A CN111994407A (en) | 2020-08-06 | 2020-08-06 | End effector of robot for code spraying and labeling of steel coil |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010784285.8A CN111994407A (en) | 2020-08-06 | 2020-08-06 | End effector of robot for code spraying and labeling of steel coil |
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| CN202010784285.8A Pending CN111994407A (en) | 2020-08-06 | 2020-08-06 | End effector of robot for code spraying and labeling of steel coil |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113998255A (en) * | 2021-11-15 | 2022-02-01 | 中交疏浚技术装备国家工程研究中心有限公司 | Flexible adjustment labeling mechanism |
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