CN113844743A - Robot automatic tape searching and labeling control method - Google Patents

Robot automatic tape searching and labeling control method Download PDF

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Publication number
CN113844743A
CN113844743A CN202010599202.8A CN202010599202A CN113844743A CN 113844743 A CN113844743 A CN 113844743A CN 202010599202 A CN202010599202 A CN 202010599202A CN 113844743 A CN113844743 A CN 113844743A
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thickness
steel
strip
steel coil
labeling
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CN113844743B (en
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史素红
魏武
张志雷
陈绍林
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Shanghai Meishan Iron and Steel Co Ltd
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Shanghai Meishan Iron and Steel Co Ltd
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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
    • 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
    • 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
    • B65C9/40—Controls; Safety devices

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Abstract

The invention relates to a robot automatic tape searching and labeling control method, which comprises the following steps: step 1, label absorption, step 2, steel coil inner ring state judgment, step 3, steel coil inner ring belt head detection, and step 4, label adhesion. And after the position of the head of the inner ring of the steel coil is found, the manipulator presses downwards to carry out labeling operation. The method automatically searches and sticks the label at the tape head position of the inner ring of the finished steel coil through the robot, and the part with the label tape head is cut by a downstream user during processing and is not more than 30 cm, so that the resource utilization rate is improved, and the cost control is facilitated.

Description

Robot automatic tape searching and labeling control method
Technical Field
The invention relates to a robot automatic tape searching and labeling control method, and belongs to the field of modern ferrous metallurgy industrial robot control.
Background
The product range of the cold rolling unit in the ferrous metallurgy industry mainly comprises a tinned coil, an (aluminum) galvanized coil and an acid-washing high-strength steel coil used in the automobile and household appliance industry, the thickness range of the product is 0.18-8.0mm, the width range is 800-1630 mm, and the strength is 980MPa at most. And after the finished steel coil is off-line from the coiling machine and is conveyed to a designated station through a steel coil trolley or a walking beam, and after bundling, weighing and labeling operations, the travelling crane is lifted to a packaging station to be packaged and then is sent out to downstream users.
In the prior art, a labeling machine is arranged at a weighing saddle station to label a finished steel coil, the labeling machine generally adopts 6-axis robot operation, and a label head is arranged on a sixth-axis flange of the robot. The steel coil arrives the subsides mark station of weighing, and the back of accomplishing of weighing, the automatic steel coil information of printing of labeller, the label head absorb the label of printing information such as coil of strip weight, and robot control system drives the label head of pasting and walks according to certain orbit, pastes the label in coil of strip outer lane fixed position.
However, in the prior art, the label is adhered to the outer ring of the steel coil at a fixed position, a steel coil with the label on the outer ring is required to be cut off when downstream users process the steel coil, the diameter of the finished steel coil is generally 2-3 meters, the longest length is nearly 6 meters, and along with the increasing of the cost consciousness of the downstream users, strict requirements are provided for the label adhering position of the finished steel coil, namely the label is required to be adhered to the position close to the strip head of the inner ring, so that the maximum utilization rate of the steel coil is realized, and the waste of cutting off the strip head of the outer ring of the steel coil is avoided. The cold-rolled steel coil is complex in shape, particularly the high-thickness high-strength steel coil is irregular and common, the inner ring is mainly in a tower shape, the overflowing edge is more, small coils including welding seams are required to be subjected to coil blasting, the coil shape is more irregular, interlayer coil loosening is realized, and the large coils are sleeved with the small coils. Especially, the position of the inner ring belt head is not fixed, and 360 degrees are possible at each angle. Therefore, a method for labeling the head part of the inner ring of the steel coil closely is urgently needed.
Retrieve application publication No. CN106219002A a medical heparin tube automatic labeling robot, this technique belongs to the automatic labeling of medical trade heparin tube, mainly include stores pylon conveying mechanism and turnover labeling mechanism, can utilize the chain stores pylon to carry the assigned position with the heparin tube is automatic, then through the crank push rod mechanism with the heparin tube accurate push in the middle of the double-layered groove of planet wheel, recycle the rotation and the revolution of planet wheel, the transposition action of the automatic roll subsides of cooperation backplate completion label and heparin tube, press from both sides the groove release heparin tube at last, accomplish the work of pasting of label.
An automatic assembling line for teaching is retrieved from application publication No. CN206224892U, and the technology discloses an automatic assembling line for teaching comprising: the device comprises a workbench, an assembly production line and a carrier return line, wherein the assembly production line and the carrier return line are arranged on the workbench, and a carrier is arranged on the assembly production line; a screw twisting robot, an assembling robot, a labeling robot, a label disassembling robot and a disassembling robot are arranged on one side of the workbench, a blocking and positioning mechanism is arranged on the workbench in front of each robot, and a carrier grabbing mechanism and a carrier pushing mechanism are respectively arranged at the front end and the rear end of the workbench; and 5 control devices are arranged on the other side of the workbench, and each control device controls one robot. According to the technical scheme, the mainstream brand of the robot application market is adopted, the robots with various different functions are combined, the whole-line automatic practical training content is completed, and the depth and the breadth of the robot practical training project are improved. The problems to be solved by the above 2 publications are completely different from the present technology, and the angle and starting point of the problems to be solved, and the technical solutions and effects thereof are completely different from the present technology.
Disclosure of Invention
The invention provides a control method for automatically searching and labeling a tape head by a robot, aiming at the current situation that the labeling of the outer ring of the existing finished steel coil cannot meet the requirements of downstream users and the tape head and the shape of the inner ring of the steel coil are very complicated, the technical inventor provides the control method for automatically searching and labeling the tape head by the robot after a large amount of field research and repeated experimental demonstration.
In order to achieve the above object, the technical solution of the present invention is as follows, a method for controlling automatic tape searching and labeling by a robot further comprises the following steps:
step 1, label suction. And after the finished steel coil reaches the labeling station, the labeling machine starts the automatic labeling process of the labeling robot, the robot absorbs the printed label of the current finished steel coil through the labeling head assembly on the sixth shaft flange plate and controls the manipulator to move to the side face of the steel coil.
And step 2, judging the state of the inner ring of the steel coil. Detecting the outer ring of the finished steel coil by two laser range finders on a sixth shaft of the manipulator at the same time, judging whether the inner ring of the steel coil is loose core, if so, sending alarm information, and stopping the operation of the manipulator; if the core is not pulled, the manipulator calculates the center point of the steel coil according to the detected diameter of the steel coil, and inserts the manipulator into the center position of the inner ring of the finished steel coil.
And step 3, detecting the tape head of the inner ring of the steel coil. And (3) performing axial motion in the space of the inner ring of the finished steel coil by taking the joint point of the manipulator as the circle center, and finding the position of the head of the inner ring of the steel coil while rotating.
And step 4, label pasting. And after the position of the head of the inner ring of the steel coil is found, the manipulator presses downwards to carry out labeling operation.
Further, in the step 2, in the process that the robot moves around the axis with the joint point as the center of the circle, two laser measuring sensors arranged on the robot synchronously detect the position of the strip head, and the position of the current strip steel thickness mutation point is found out by a cyclic period measuring difference comparison method;
further, the comparison method of the cycle period measurement difference value is to judge whether the position of the head labeling is carried out or not according to the comparison of the thickness mutation point and the thickness of the strip steel. The specific detection analysis processing method comprises storing and memorizing the measured values of the two laser range finders, and sequentially storing 5 data according to the scanning sequence, such as the first group of data including L0、L1、L2、L3、L4(ii) a The second set of data includes L1、L2、L3、L4、L5With the scanning refresh, the newest group of data is always covered in a first-in first-out mode, and the ith group of data is Li-1，Li，Li+1，Li+2，Li+3Ensuring that 5 data in a sampling period are updated in real time, carrying out cyclic difference comparison on the 5 data in the sampling period in the same period, and if the calculated difference of the two laser distance meters is within the thickness comparison value, continuing to scan and process in the next period; if the calculated difference value of the two laser distance measuring instruments exceeds the thickness comparison value, a peak value catastrophe point is screened out, namely the tape head position point is located, and the manipulator is triggered to press down in real time to carry out labeling.
In the ith scanning cycle, 5 points detected and scanned by the 1 st range finder are respectively stored as L1i-1，L1i，L1i+1，L1i+2，L1i+3；
Further the cyclic difference is calculated as follows:
A1i＝|L1i-1-L1i|；A1i+1＝|L1i-1-L1i+1|；A1i+2＝|L1i-1-L1i+2|；A1i+3＝|L1i-1-L1i+3|；
B1i＝|L1i-L1i+1|；B1i+1＝|L1i-L1i+2|；B1i+2＝|L1i-L1i+3|；
C1i＝|L1i+1-L1i+2|；C1i+1＝|L1i+1-L1i+3|；
D1i＝|L1i+2-L1i+3|；
in the ith scanning cycle, 5 points detected and scanned by the 2 nd distance meter are respectively stored as L2i-1，L2i，L2i+1，L2i+2，L2i+3(ii) a The following absolute values of the differences were calculated:
A2i＝|L2i-1-L2i|；A2i+1＝|L2i-1-L2i+1|；A2i+2＝|L2i-1-L2i+2|；A2i+3＝|L2i-1-L2i+3|；
B2i＝|L2i-L2i+1|；B2i+1＝|L2i-L2i+2|；B2i+2＝|L2i-L2i+3|；
C2i＝|L2i+1-L2i+2|；C2i+1＝|L2i+1-L2i+3|；
D2i＝|L2i+2-L2i+3|。
further, in step 3, the relationship between the thickness mutation point and the thickness of the strip steel needs to satisfy the requirement that the detected measurement calculation difference is not less than the strip steel thickness value;
the method specifically comprises the following steps:
(A1ior A1i+1Or A1i+2Or A1i+3) Not less than the thickness of the steel strip and (A2)iOr A2i+1Or A2i+2Or A2i+3) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (B1)iOr B1i+1Or B1i+2) Not less than the thickness of the steel strip and (B2)iOr B2i+1Or B2i+2) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (C1)iOr C1i+1) Not less than the thickness of the steel strip and (C2)iOr C2i+1) The thickness of the strip steel is not less than the total thickness of the strip steel;
or D1iSteel strip thickness and D2iThe thickness of the strip steel is not less than the maximum value.
Compared with the prior art, the invention has the advantages that 1) because the head part of the steel tape is only positioned in one linear area of the inner ring of the steel tape, and the inner ring has the non-circular characteristic, especially the steel type is super thick, when the intensity is higher, the non-perfect circular characteristic is more obvious, and certain interference is formed on the numerical judgment of the laser range finder; 2) the method for detecting the tape head of the inner ring of the steel coil adopts a method of cycle period measurement and difference value comparison, a mechanical arm rotates around a shaft at a constant speed by 360 degrees, detection is carried out while rotating, certain analysis processing is carried out on the detected value, the tape head with the thickness ranging from 0.18 mm to 8.0mm is ensured to be reliably detected in practical application, and the position recognition rate of the tape head of the inner ring of the steel coil reaches more than 98 percent; 3) the technology of the invention automatically searches and sticks the label at the tape head position of the inner ring of the finished steel coil through the robot, and the part with the label tape head is cut by a downstream user during processing and is not more than 30 cm, thereby improving the resource utilization rate and being beneficial to cost control; 4) the technology of the invention adopts two laser range finders to carry out detection simultaneously, and the detection efficiency and precision are effectively improved by comparing and verifying the detection data of the two laser range finders; 5) according to the technology, before label pasting, whether the inner ring of the steel coil is subjected to core pulling detection is firstly carried out, if the core pulling exists, alarm information is sent out, if the core pulling does not exist, the manipulator calculates the center point of the steel coil according to the detected diameter of the steel coil, and the manipulator inserts the steel coil to automatically find and detect the tape head of the inner ring of the steel coil and then carries out label pasting. The safety and success rate of automatic labeling operation of the robot are effectively improved, and robot arm damage and equipment accidents caused by the core pulling of the steel coil inner ring and the like are avoided.
Drawings
Fig. 1 is a schematic structural diagram of a control method for automatically picking up a tape and labeling a tape according to the present technology;
FIG. 2 is a schematic diagram of a process of the present technology;
FIG. 3 is a flow chart of a method control according to the present technique;
in the figure: 1-a sixth shaft flange plate, 2-a laser range finder, 3-a finished steel coil, 4-a steel coil inner ring belt head and 5-a labeling head assembly.
The specific implementation mode is as follows:
for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.
Example 1: referring to fig. 1-3, a robot automatic tape head searching and labeling control method comprises the steps of configuring two high-precision laser distance measuring instruments 2 in a labeling head assembly 5 mounted on a sixth shaft flange plate 1 of a manipulator, and designing the manipulator to rotate around a shaft by taking the central point of an inner ring of a finished steel coil 3 as the center of a circle, so that the running tracks of the two laser distance measuring instruments 2 are parallel to the radian of the inner ring of the steel coil, and the consistency of detection references is ensured. In the operation process, the two laser distance measuring instruments 2 simultaneously detect, firstly detect whether the inner ring of the finished steel coil 3 is loose core, if yes, send alarm information, and the manipulator stops operating; if no core is pulled, the manipulator calculates the center point of the steel coil according to the detected diameter of the steel coil, stretches into the center point of the inner ring of the finished steel coil 3, and rotates around a shaft by taking the center point as the center point to drive the two laser range finders 2 on the 6 th shaft tool clamp to detect the belt head 4 of the inner ring of the steel coil along a route parallel to the inner ring of the steel coil. And when the tape head 4 in the steel coil is detected, the labeling head assembly 5 is pressed downwards to adhere the label.
Example 2:
referring to fig. 1-3, a robot automatic tape searching and labeling control method comprises the following steps:
step 1, label suction. And after the finished steel coil reaches the labeling station, the labeling machine starts the automatic labeling process of the labeling robot, the robot absorbs the printed label of the current finished steel coil through the labeling head assembly on the sixth shaft flange plate and controls the manipulator to move to the side face of the steel coil.
And step 2, judging the state of the inner ring of the steel coil. Detecting the outer ring of the finished steel coil by two laser range finders on a sixth shaft of the manipulator at the same time, judging whether the inner ring of the steel coil is loose core, if so, sending alarm information, and stopping the operation of the manipulator; if the core is not pulled, the manipulator calculates the center point of the steel coil according to the detected diameter of the steel coil, and inserts the manipulator into the center position of the inner ring of the finished steel coil.
And step 3, detecting the tape head of the inner ring of the steel coil. And (3) performing axial motion in the space of the inner ring of the finished steel coil by taking the joint point of the manipulator as the circle center, and finding the position of the head of the inner ring of the steel coil while rotating.
And step 4, label pasting. And after the position of the head of the inner ring of the steel coil is found, the manipulator presses downwards to carry out labeling operation.
In the step 2, in the process that the robot moves around the axis by taking the joint point as the circle center, two laser measuring sensors arranged on the robot synchronously detect the position of the belt head, and the position of the current strip steel thickness mutation point is found out by a cyclic period measurement difference comparison method;
the comparison method of the cycle period measurement difference value is to judge whether the end-of-band labeling position exists or not according to the comparison of the thickness mutation point and the thickness of the band steel. The specific detection analysis processing method comprises storing and memorizing the measured values of the two laser range finders, and sequentially storing 5 data according to the scanning sequence, such as the first group of data including L0、L1、L2、L3、L4(ii) a The second set of data includes L1、L2、L3、L4、L5With the scanning refresh, the newest group of data is always covered in a first-in first-out mode, and the ith group of data is Li-1，Li，Li+1，Li+2，Li+3Ensuring that 5 data in a sampling period are updated in real time, carrying out cyclic difference comparison on the 5 data in the sampling period in the same period, and if the calculated difference of the two laser distance meters is within the thickness comparison value, continuing to scan and process in the next period; if the calculated difference of the two laser range finders exceeds the thickness comparison value, screeningAnd selecting the peak value catastrophe point, namely the tape head position point, and triggering the mechanical hand to press down in real time to carry out labeling action.
In the ith scanning cycle, 5 points detected and scanned by the 1 st range finder are respectively stored as L1i-1，L1i，L1i+1，L1i+2，L1i+3；
The cyclic difference is calculated as follows:
A1i＝|L1i-1-L1i|；A1i+1＝|L1i-1-L1i+1|；A1i+2＝|L1i-1-L1i+2|；A1i+3＝|L1i-1-L1i+3|；
B1i＝|L1i-L1i+1|；B1i+1＝|L1i-L1i+2|；B1i+2＝|L1i-L1i+3|；
C1i＝|L1i+1-L1i+2|；C1i+1＝|L1i+1-L1i+3|；
D1i＝|L1i+2-L1i+3|；
in the ith scanning cycle, 5 points detected and scanned by the 2 nd distance meter are respectively stored as L2i-1，L2i，L2i+1，L2i+2，L2i+3(ii) a The following absolute values of the differences were calculated:
A2i＝|L2i-1-L2i|；A2i+1＝|L2i-1-L2i+1|；A2i+2＝|L2i-1-L2i+2|；A2i+3＝|L2i-1-L2i+3|；
B2i＝|L2i-L2i+1|；B2i+1＝|L2i-L2i+2|；B2i+2＝|L2i-L2i+3|；
C2i＝|L2i+1-L2i+2|；C2i+1＝|L2i+1-L2i+3|；
D2i＝|L2i+2-L2i+3|。
in the step 3, the relation between the thickness mutation point and the thickness of the strip steel needs to meet the requirement that the detected measurement calculation difference value is not less than the thickness value of the strip steel;
the method specifically comprises the following steps:
(A1ior A1i+1Or A1i+2Or A1i+3) Not less than the thickness of the steel strip and (A2)iOr A2i+1Or A2i+2Or A2i+3) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (B1)iOr B1i+1Or B1i+2) Not less than the thickness of the steel strip and (B2)iOr B2i+1Or B2i+2) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (C1)iOr C1i+1) Not less than the thickness of the steel strip and (C2)iOr C2i+1) The thickness of the strip steel is not less than the total thickness of the strip steel;
or D1iSteel strip thickness and D2iThe thickness of the strip steel is not less than the maximum value.
The application example is as follows:
taking a cold-rolled and pickled finished steel coil with the inner diameter of 610mm as an example, the method for controlling the automatic tape head searching and labeling by the robot further comprises the following steps:
step S1, label aspiration. After the finished steel coil 3 reaches the labeling station, the labeling machine starts the automatic labeling process of the labeling robot, the robot absorbs the printed label of the current finished steel coil through the labeling head assembly on the sixth shaft flange plate 1, and the robot is controlled to move to the side face of the finished steel coil 3.
And step S2, judging the state of the inner ring of the steel coil. The outer ring of the finished steel coil 3 is detected by two laser range finders 2 on a sixth shaft of the manipulator at the same time, whether the inner ring of the steel coil is loose core or not is judged, if yes, alarm information is sent, and the manipulator stops operating; if the core is not pulled, the manipulator calculates the center point of the steel coil according to the detected diameter of the steel coil, and the manipulator is inserted into the position of the center of the inner ring of the finished steel coil 3. And in the process that the robot arm takes the joint point as the circle center to do axial motion, two laser distance measuring instruments 2 arranged on the robot arm synchronously detect the position of the belt head 4 in the steel coil, and the position of the current band steel thickness mutation point is found out by a comparison method of the measurement difference of the cycle period. Wherein, the comparison method of the cycle period measurement difference is based on the thickness mutation point and the strip steel thicknessAnd comparing the degrees, and judging whether the labeling position with the head is available. The specific detection analysis processing method comprises the steps of storing and memorizing the measured values of the two laser range finders 2, and sequentially storing 5 data according to a scanning sequence, wherein the first group of data comprises L0, L1, L2, L3 and L4; the second group of data comprises L1, L2, L3, L4 and L5, the latest group of data is always overwritten in a first-in-first-out mode along with the scanning and refreshing, and the ith group of data is L1i-1，Li，Li+1，Li+2，Li+3Ensuring that 5 data in a sampling period are updated in real time, carrying out cyclic difference comparison on the 5 data in the sampling period in the same period, and if the calculated difference of the two laser distance meters is within the thickness comparison value, continuing to scan and process in the next period; if the calculated difference value of the two laser distance measuring instruments exceeds the thickness comparison value, screening out a peak value catastrophe point, namely a position point of the belt head 4 of the inner ring of the positioned steel coil, and triggering the mechanical hand to press down in real time to carry out labeling.
Wherein, the 5 points of the ith scanning period and the 1 st range finder detection scanning are respectively stored as L1i-1，L1i，L1i+1，L1i+2，L1i+3；
Wherein the cyclic difference is calculated as follows:
A1i＝|L1i-1-L1i|；A1i+1＝|L1i-1-L1i+1|；A1i+2＝|L1i-1-L1i+2|；A1i+3＝|L1i-1-L1i+3|；
B1i＝|L1i-L1i+1|；B1i+1＝|L1i-L1i+2|；B1i+2＝|L1i-L1i+3|；
C1i＝|L1i+1-L1i+2|；C1i+1＝|L1i+1-L1i+3|；
D1i＝|L1i+2-L1i+3|；
in the ith scanning cycle, 5 points detected and scanned by the 2 nd distance meter are respectively stored as L2i-1，L2i，L2i+1，L2i+2，L2i+3(ii) a The following absolute values of the differences were calculated:
A2i＝|L2i-1-L2i|；A2i+1＝|L2i-1-L2i+1|；A2i+2＝|L2i-1-L2i+2|；A2i+3＝|L2i-1-L2i+3|；
B2i＝|L2i-L2i+1|；B2i+1＝|L2i-L2i+2|；B2i+2＝|L2i-L2i+3|；
C2i＝|L2i+1-L2i+2|；C2i+1＝|L2i+1-L2i+3|；
D2i＝|L2i+2-L2i+3|；
and step S3, detecting the tape head of the inner ring of the steel coil. And (3) performing axial motion in the space of 610mm phi of the inner ring by taking a joint point of a manipulator as a circle center, and finding the position of the belt head 4 in the inner ring of the steel coil according to the relation between the thickness mutation point and the thickness of the strip steel while rotating. The requirements are as follows:
the detected measurement calculation difference value is not less than the thickness value of the strip steel;
the concrete expression is as follows:
(A1ior A1i+1Or A1i+2Or A1i+3) Not less than the thickness of the steel strip and (A2)iOr A2i+1Or A2i+2Or A2i+3) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (B1)iOr B1i+1Or B1i+2) Not less than the thickness of the steel strip and (B2)iOr B2i+1Or B2i+2) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (C1)iOr C1i+1) Not less than the thickness of the steel strip and (C2)iOr C2i+1) The thickness of the strip steel is not less than the total thickness of the strip steel;
or D1iSteel strip thickness and D2iThe thickness of the strip steel is not less than the total thickness of the strip steel;
as for the 3 rd scanning period of the 1 st range finder, 5 points of detection scanning are respectively stored as 265mm, 266mm, 267mm, 268.6m and 271 mm;
in the 3 rd scanning period of the 2 nd distance measuring instrument, 5 points of detection scanning are respectively stored as 265.2mm, 266mm, 267.3mm, 268.6m and 271 mm;
calculated A16＝6mm；A265.8mm, the current coil thickness is 4mm, A14>4 and A24>And 4, finding out the current tape head.
Step S4, label pasting. And after the position of the belt head 4 in the inner ring of the steel coil is found, the manipulator presses down to carry out labeling operation through the labeling head assembly 5, and the manipulator quits and returns to the original position for standby after the labeling operation is finished.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.

Claims (4)

1. A robot automatic tape searching and labeling control method is characterized by comprising the following steps:
step 1, label suction, wherein after a finished steel coil arrives at a labeling station, a labeling machine starts an automatic labeling process of a labeling robot, the robot sucks a printed label of the current finished steel coil through a labeling head assembly on a sixth-axis flange plate and controls a manipulator to move to the side face of the steel coil;
step 2, judging the state of the inner ring of the steel coil, simultaneously detecting the outer ring of the finished steel coil through two laser range finders on a sixth shaft of the manipulator, judging whether the inner ring of the steel coil is loose core or not, if so, sending alarm information, and stopping the operation of the manipulator; if the core is not pulled, calculating the center point of the steel coil by the manipulator according to the detected diameter of the steel coil, and inserting the manipulator into the center position of the inner ring of the finished steel coil;
step 3, detecting the strip head of the inner ring of the steel coil, performing axial motion in the space of the inner ring of the finished steel coil by taking a joint point of a manipulator as a circle center, and finding the position of the strip head of the inner ring of the steel coil while rotating;
and step 4, label pasting. And after the position of the head of the inner ring of the steel coil is found, the manipulator presses downwards to carry out labeling operation.
2. The method as claimed in claim 1, wherein in step 2, two laser measuring sensors mounted on the robot arm synchronously detect the position of the strip head during the movement of the robot arm around the joint point, and the position of the current position of the sudden change in the thickness of the strip steel is found out by a cyclic period measurement difference comparison method.
3. The method for controlling automatic searching for head and labeling of robot as claimed in claim 3, wherein in step 2, the comparison method of the cycle period measurement difference is to compare the thickness mutation point with the thickness of the strip steel to determine whether the head and the label are labeled, specifically, the detection, analysis and processing method comprises storing and memorizing the measured values of the two laser range finders, and sequentially storing 5 data according to the scanning sequence, for example, the first group of data includes L0、L1、L2、L3、L4(ii) a The second set of data includes L1、L2、L3、L4、L5With the scanning refresh, the newest group of data is always covered in a first-in first-out mode, and the ith group of data is Li-1，Li，Li+1，Li+2，Li+3Ensuring that 5 data in a sampling period are updated in real time, carrying out cyclic difference comparison on the 5 data in the sampling period in the same period, and if the calculated difference of the two laser distance meters is within the thickness comparison value, continuing to scan and process in the next period; if the calculated difference value of the two laser distance measuring instruments exceeds the thickness comparison value, screening out a peak value catastrophe point, namely a tape head position point, and triggering a mechanical hand to press down in real time to carry out labeling;
in the ith scanning cycle, 5 points detected and scanned by the 1 st range finder are respectively stored as L1i-1，L1i，L1i+1，L1i+2，L1i+3(ii) a The cyclic difference is calculated as follows:
A1i＝|L1i-1-L1i|；A1i+1＝|L1i-1-L1i+1|；A1i+2＝|L1i-1-L1i+2|；A1i+3＝|L1i-1-L1i+3|；
B1i＝|L1i-L1i+1|；B1i+1＝|L1i-L1i+2|；B1i+2＝|L1i-L1i+3|；
C1i＝|L1i+1-L1i+2|；C1i+1＝|L1i+1-L1i+3|；
D1i＝|L1i+2-L1i+3|；
in the ith scanning cycle, 5 points detected and scanned by the 2 nd distance meter are respectively stored as L2i-1，L2i，L2i+1，L2i+2，L2i+3(ii) a The following absolute values of the differences were calculated:
A2i＝|L2i-1-L2i|；A2i+1＝|L2i-1-L2i+1|；A2i+2＝|L2i-1-L2i+2|；A2i+3＝|L2i-1-L2i+3|；
B2i＝|L2i-L2i+1|；B2i+1＝|L2i-L2i+2|；B2i+2＝|L2i-L2i+3|；
C2i＝|L2i+1-L2i+2|；C2i+1＝|L2i+1-L2i+3|；
D2i＝|L2i+2-L2i+3|。
4. the method for controlling the automatic tape searching and labeling of the robot as claimed in claim 3, wherein the relationship between the thickness mutation point and the thickness of the steel strip in step 3 is such that the difference between the detected measurement and calculation is not less than the thickness value of the steel strip;
the method specifically comprises the following steps:
(A1ior A1i+1Or A1i+2Or A1i+3) Not less than the thickness of the steel strip and (A2)iOr A2i+1Or A2i+2Or A2i+3) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (B1)iOr B1i+1Or B1i+2) Not less than the thickness of the steel strip and (B2)iOr B2i+1Or B2i+2) The thickness of the strip steel is not less than the total thickness of the strip steel;
or (C1)iOr C1i+1) Not less than the thickness of the steel strip and (C2)iOr C2i+1) The thickness of the strip steel is not less than the total thickness of the strip steel;
or D1iSteel strip thickness and D2iThe thickness of the strip steel is not less than the maximum value.
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