CN115072115A - System and method for labeling inner wall of pipe end of steel pipe - Google Patents
System and method for labeling inner wall of pipe end of steel pipe Download PDFInfo
- Publication number
- CN115072115A CN115072115A CN202210928237.0A CN202210928237A CN115072115A CN 115072115 A CN115072115 A CN 115072115A CN 202210928237 A CN202210928237 A CN 202210928237A CN 115072115 A CN115072115 A CN 115072115A
- Authority
- CN
- China
- Prior art keywords
- labeling
- steel pipe
- module
- label
- steel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 175
- 239000010959 steel Substances 0.000 title claims abstract description 175
- 238000002372 labelling Methods 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000007639 printing Methods 0.000 claims abstract description 33
- 238000002360 preparation method Methods 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 239000012790 adhesive layer Substances 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 7
- 238000010073 coating (rubber) Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229920000297 Rayon Polymers 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C3/00—Labelling other than flat surfaces
-
- 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
- B65C9/0015—Preparing the labels or articles, e.g. smoothing, removing air bubbles
-
- 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
- B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
-
- 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
-
- 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
- B65C9/40—Controls; Safety devices
-
- 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
- B65C9/46—Applying date marks, code marks, or the like, to the label during labelling
-
- 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
- B65C9/0015—Preparing the labels or articles, e.g. smoothing, removing air bubbles
- B65C2009/0018—Preparing the 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
- B65C9/0015—Preparing the labels or articles, e.g. smoothing, removing air bubbles
- B65C2009/0059—Preparing the articles
-
- 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
- B65C2009/408—Controls; Safety devices reading information before printing and applying a label
Abstract
The invention provides a steel pipe end inner wall labeling system and a method, which comprises a control system, wherein the control system controls the steel pipe end inner wall labeling system to label each steel pipe inner wall of a steel pipe in a group arrangement, wherein the six-axis robot, a labeling module in driving electric connection with the six-axis robot, a 3D structure line scanning module, a steel pipe positioning module in the group arrangement and a label printing module; and the control system is used for controlling the six-axis robot and the labeling module to label the labels with the characteristic information of the steel pipes printed by the printing module on the inner wall of each steel pipe of the group steel pipe. The invention has the beneficial effects that: can carry out the subsides mark of correspondence to the steel pipe of different positions and different models, improve the efficiency and the degree of accuracy of subsides mark, practice thrift the human cost, realize industrial manufacturing's intellectuality.
Description
Technical Field
The invention belongs to the field of seamless steel pipe production and manufacturing, and particularly relates to a steel pipe end inner wall labeling system and method.
Background
In a steel pipe all-line material branch-by-branch tracking system, the most difficult part to track occurs after a cooling bed, at the present stage, no way for realizing the material branch-by-branch tracking exists, in the modern information technology, the development of the technology and technology is advanced suddenly, and the electric control, the visual software development and the computing power meet the market requirements, but as the metallurgy industry belongs to the basic industry, the field environment is complex, the steel pipe material branch-by-branch tracking technology does not exist basically, and the steel pipe material branch-by-branch tracking system is produced according to batches; data in the production process cannot be uploaded to an L2 system in time, information of products cannot be matched, closed-loop management cannot be formed, a decision maker blindly produces the products, and the quality of the products is uneven; the full-automatic inner wall label pasting robot realizes the tracking of the steel pipe full-line material branch by branch, and the condition that the steel pipe cannot be tracked after a cooling bed becomes history.
Disclosure of Invention
The invention aims to solve the technical problem of how to label the inner walls of steel pipes with different pipe diameters and realize the tracking management of steel pipe type data.
The invention is realized by the following technical scheme:
preferred scheme 1, a steel pipe end inner wall pastes mark system, including control system, control system control steel pipe end inner wall pastes the mark system and pastes the mark to each steel pipe inner wall of gang saw steel pipe, its characterized in that still includes: the labeling device comprises a six-axis robot, a labeling module, a 3D structure line scanning module, a group steel pipe positioning module and a label printing module, wherein the labeling module is electrically connected with the six-axis robot in a driving mode; and the control system is used for controlling the six-axis robot and the labeling module to label the steel tube characteristic information printed by the printing module on the inner wall of each steel tube of the group steel tube.
The steel pipe end inner wall labeling system according to the preferable scheme 1 is characterized in that the labeling module comprises a 90-degree overturning cylinder, at least one vacuum labeling clamp, at least one pneumatic sharpening device and a calibration plate.
According to preferred scheme 1 or 2 steel pipe end inner wall subsides mark system, its characterized in that, 3D structure line scanning module includes that the 3D line sweeps sensor and sharp module, the 3D line sweep the sensor set up in on the sharp module, the sensor is swept to the 3D line through drive arrangement on the sharp module back and forth movement.
The system for labeling the inner wall of the end of the steel pipe according to the preferred embodiment 3 is characterized in that the 3D structural line scanning module sequentially scans the steel pipes in the group to obtain position information, steel pipe diameter information, pipe wall thickness information and steel pipe end condition information.
According to preferred scheme 4 steel pipe end inner wall pastes mark system, its characterized in that, group arranges steel pipe orientation module including the support with set up in area direction cylinder on the support to and connect in take the silica gel briquetting of direction cylinder.
According to preferred scheme 5 steel pipe end inner wall pastes mark system, its characterized in that, label printing module includes label printer and antiseized mark platform of getting, wherein, label printer will the back is printed to the label, the label passes through the stripper, will the label conveys antiseized mark platform of getting, the viscose layer of label down with antiseized mark platform contact of getting, antiseized mark platform of getting includes vacuum system.
The method for labeling the inner wall of the end of the steel pipe is characterized by comprising the following steps
Step 1, labeling preparation, namely, generating and sending labeling preparation information to a steel pipe end inner wall labeling system by a control system, wherein the labeling preparation information comprises starting information and characteristic information of each steel pipe in a group of steel pipes;
Step 4, printing labels, generating label printing sequence information corresponding to each steel pipe in the group steel pipes by a label printing module according to the sequence information obtained in the step 3, and printing the steel pipe characteristic information of each corresponding steel pipe on the labels according to the printing sequence information;
and 6, labeling, namely moving the labeling modules adsorbing the labels to the labeling positions of the group steel pipes by the six-axis robot, penetrating the labeling modules into the corresponding inner walls of the steel pipes, and attaching the labels to the inner walls of the steel pipes.
According to the method, the step of polishing and cleaning the inner wall of the end part of the steel pipe is further included before the step 6, according to the pipe end information obtained in the step 3, the rotary pneumatic polisher of the labeling module faces the end part of the steel pipe and goes deep into the inner wall of the end part of the steel pipe to polish and clean, the vacuum labeling fixture is rotated to face the end part of the steel pipe after the inner wall of the end part of the steel pipe is polished, and the labeling in the step 6 is started.
According to the method, the labeling is carried out for the second time, after the steps 2-5 are repeated, the six-axis robot moves the labeling module adsorbing the secondary labels to the labeling position of the steel tube in the row, and secondary labeling is carried out at the position, opposite to the position of the previous labeling, of the inner wall of the steel tube.
According to the method, after the labels are pasted, the six-axis robot, the labeling module 13, the 3D structure line scanning module and the steel tube group positioning module are reset, and after the chain bed transports the steel tubes in the group row which are already labeled away, the next steel tube group which is not labeled is transported to the labeling working area for labeling.
The beneficial effects of the invention are: automatic steel pipe identification and marking are realized through six robots with machine vision, so that the labeling efficiency of the steel pipe can be greatly improved, labor is saved, and the safety in the production process is also guaranteed.
Drawings
FIG. 1 is a schematic view of the system for labeling the inner wall of the end of a steel pipe according to the present invention;
fig. 2 is a schematic structural view of a labeling module of the present invention;
FIG. 3 is a schematic structural diagram of a 3D line scanning module according to the present invention;
FIG. 4 is a schematic structural diagram of a gang steel tube positioning module according to the present invention;
fig. 5 is a schematic structural diagram of a label printing module according to the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
Examples
A steel pipe end inner wall labeling system and a steel pipe end inner wall labeling method as shown in fig. 1-5. The steel pipe end inner wall labeling system and the steel pipe end inner wall labeling method can uniformly label the group steel pipes 2 consisting of a plurality of steel pipes.
The system for labeling the inner wall of the end of the steel pipe comprises a six-axis robot 1, a labeling module 13 in driving and electric connection with the six-axis robot 1, a 3D structure line scanning module 14, a steel pipe positioning module 15 and a label printing module 16, wherein the steel pipe positioning module and the label printing module are arranged in a row; the label is characterized by further comprising two control systems, namely an L1 system and an L2 system, wherein the L1 system is used for controlling all parts to cooperatively work to label the inner wall of the steel pipe, the L2 system is used for communicating with the L1 system in advance and transmitting relevant characteristic information such as specification and model of the steel pipe, the characteristic information comprises but is not limited to information such as product batch, size and model and material, and the characteristic information can be printed on the label in any combination form such as characters, patterns, bar codes or two-dimensional codes; the L1 system and the L2 system are each a control system implemented by a computer.
Wherein, labeling module 13 is installed at the movable arm end of six-axis robot 1, and can be linked with six-axis robot 1. The labeling module 13 comprises a 90-degree overturning cylinder 4, at least one vacuum labeling clamp 5, at least one pneumatic sharpening device 6 and a calibration plate 3 arranged on a vertical plane, preferably, the vacuum labeling clamp 5 and the pneumatic sharpening device 6 are correspondingly and respectively arranged in three or more than three, and the calibration plate 3 is used for machine vision identification; the 90-degree turnover cylinder 4 has the function of sequentially rotating around a vertical shaft towards the direction of +90 degrees or-90 degrees, the 90-degree turnover cylinder 4 is fixedly connected with the vacuum labeling fixture 5 and the pneumatic sharpening device 6 through a connecting frame 41, and the pneumatic sharpening device 6 and the vacuum labeling fixture 5 are oppositely and reversely arranged and connected on the connecting frame 41; the vacuum labeling clamp 5 is provided with a label taking and rubber coating sucker 51, the label taking and rubber coating sucker 51 comprises an aluminum alloy sucker 511 and a silica gel sucker 512 arranged on the aluminum alloy sucker, wherein the vacuum labeling clamp 5 can rotate by 90 degrees in sequence based on a horizontal direction shaft; the pneumatic sharpening device 6 comprises a high-speed pneumatic brush and can go deep into the inner wall of the steel pipe to polish and clean.
The 3D structure line scanning module 14 includes a 3D line scanning sensor 7 and a linear module 8, the 3D line scanning sensor 7 is disposed on the linear module 8, the 3D line scanning sensor 7 moves back and forth on the linear module 8 through a driving device 71, wherein the driving device 7 is preferably a motor.
The group steel pipe positioning module 15 comprises a support 151, a guide cylinder 9 arranged on the support and a silica gel pressing block 10 connected to the guide cylinder 9, and the group steel pipe 2 is limited to move through the downward pressing of the silica gel pressing block 10, so that the group steel pipe 2 can be positioned on the chain bed 21.
The label printing module 16 comprises a label printer 11 and an anti-sticking label taking table 12, wherein after the label printer 11 prints the label, the label is conveyed to the anti-sticking label taking table 12 through a stripper, an adhesive layer of the label is downwards contacted with the anti-sticking label taking table 12, the anti-sticking label taking table 12 comprises a vacuum system which adsorbs the label on the table, the anti-sticking label taking table 12 is made into an anti-sticking coating, preferably, the anti-sticking coating is made of any anti-sticking material such as Teflon and the like, so that no special adsorption force is provided for the adhesive layer of the label, the anti-sticking label taking table 12 comprises a plurality of anti-sticking label taking tables 12, preferably five anti-sticking label taking tables 12, wherein the anti-sticking label taking table 12 can transversely move left and right relative to a label outlet of the label printer 11 through a driving device, the printed labels are sequentially loaded according to the label printing sequence, after the labels on the anti-sticking label taking table 12 are taken out, the label printing is reset to start to print the next round of labels, preferably, the label printing module 16 includes two label printers 11, which can print labels in batches in sequence at the same time, or alternatively print labels in turn.
The specific working steps are as follows:
step 1, labeling preparation: the L1 system sends a preparation system to the steel pipe end inner wall labeling system, waits for a steel pipe in-place signal, and simultaneously, the L2 system sends characteristic information such as the specification and the model of each steel pipe in the steel pipe arrangement 2 to be labeled and the characteristic information to the L1 system;
Step 4, printing a label: the above-mentioned printing sequence information that the L1 system will receive, information such as the above-mentioned specification model of the steel pipe that control command will be sent to label print module 16 to the transmission of control command, label printer 11 of label print module 16 prints information such as the specification model of each group's row of steel pipe 2 on each label in proper order, and through stripper (can set up in printer label export), peel off each label from the labeling paper and convey antiseized platform 12 of getting, the viscose layer of label is down with antiseized platform 12 contact of getting, antiseized platform 12 of getting adsorbs the label on antiseized platform 12 of getting through the vacuum system, it is preferred, antiseized platform 12 of getting has five, antiseized platform 12 of getting can lateral motion relatively with the label export of label printer 11, bear the good label of adsorption printing according to label printing order in proper order.
before the step 6, a step of polishing and cleaning the inner wall of the end part of the steel pipe is further included, according to the pipe end information obtained in the step 3, the labeling module 13 adsorbing the label rotates the pneumatic sharpening device 6 to a position facing the end part of the steel pipe through the 90-degree overturning cylinder 4, the six-axis robot 1 enables the pneumatic sharpening device 6 to penetrate into the inner wall of the steel pipe, and the inner wall of the steel pipe is polished and cleaned; after polishing and cleaning, according to the position information obtained in the step 3, the vacuum labeling fixture 5 adsorbed with the label is rotated to the end part of the steel pipe by the 90-degree overturning cylinder 4, and then the vacuum labeling fixture is deeply inserted into the inner wall of the steel pipe at the set labeling depth position, and the label is attached to the inner wall of the steel pipe.
The step of polishing and cleaning the end of the steel pipe may be performed after step 3 is performed.
In addition, optionally, in order to improve the success rate of labeling and facilitate subsequent label identification, secondary labeling is preferably performed again.
Step 7, secondary labeling: after repeating the steps 2-5, the six-axis robot 1 moves the labeling module 13 which adsorbs the secondary labels to the labeling position of the steel tube in the row, the labeling module 13 of the labels rotates the vacuum labeling fixture 5 to the position 180 degrees opposite to the previous labeling position, the vacuum labeling fixture 5 of the labeling module 13 is inserted into the inner wall of the steel tube at the set labeling depth position according to the position information obtained in the step 4, and the new labels are attached to the position opposite to the first labels.
After the labels are pasted, the six-axis robot 1, the labeling module 13, the 3D structure line scanning module 14 and the group steel tube positioning module 15 are reset, and after the chain bed transports the pasted group steel tube 2 away, the next group of un-pasted group steel tube 2 is transported to the labeling work area for labeling work.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and substitutions may be made by one of ordinary skill in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a steel pipe end inner wall pastes mark system, includes control system, and control system control steel pipe end inner wall pastes mark system pastes the mark to each steel pipe inner wall of group row steel pipe (2), its characterized in that still includes: the labeling machine comprises a six-axis robot (1), a labeling module (13) driven by the six-axis robot (1), a 3D structure line scanning module (14), a group steel pipe positioning module (15) and a label printing module (16); the control system controls the six-axis robot (1) and the labeling module (13) to label the labels printed by the label printing module (16) and having the characteristic information of the steel pipes on the inner walls of the steel pipes in the group row of steel pipes (2).
2. The steel tube end inner wall labeling system according to claim 1, wherein the labeling module (13) comprises a 90-degree turnover cylinder (4), at least one vacuum labeling fixture (5), at least one pneumatic grinder (6) and a calibration plate (3).
3. The steel pipe end inner wall labeling system according to claim 1 or 2, wherein the 3D structure line scanning module (14) comprises a 3D line scanning sensor (7) and a linear module (8), the 3D line scanning sensor (7) is arranged on the linear module (8), and the 3D line scanning sensor (7) moves back and forth on the linear module (8) through a driving device (71).
4. The system for labeling inner walls of pipe ends of steel pipes according to claim 3, wherein the 3D structural line scanning module (14) sequentially scans the steel pipes (2) in the row to obtain position information, pipe diameter information, pipe wall thickness information and pipe end condition information of the steel pipes.
5. The steel tube end inner wall labeling system of claim 4, wherein the row steel tube positioning module (15) comprises a support (151) and a belt guide cylinder (9) arranged on the support (151), and a silica gel pressing block (10) connected to the belt guide cylinder (9).
6. The steel pipe end inner wall labeling system of claim 5, wherein the label printing module (16) comprises a label printer (11) and an anti-sticking label taking table (12), wherein after the label printer (11) prints the label, the label passes through a stripper to convey the label to the anti-sticking label taking table (12), an adhesive layer of the label is downward contacted with the anti-sticking label taking table (12), and the anti-sticking label taking table (12) comprises a vacuum system.
7. The method for labeling the inner wall of the end of the steel pipe is characterized by comprising the following steps
Step 1, labeling preparation, namely, generating and sending labeling preparation information to a steel pipe end inner wall labeling system by a control system, wherein the labeling preparation information comprises starting information and characteristic information of each steel pipe in a group steel pipe (2);
step 2, positioning the steel pipes, wherein after the control system identifies that the group steel pipes (2) reach a labeling working area, a group steel pipe positioning module (15) limits and positions the group steel pipes (2);
step 3, position identification, namely, a 3D structure line scanning module (14) sends out 3D structure light rays to sequentially scan each steel pipe of the group of steel pipes (2) to obtain pipe end information; the pipe end information includes: position information, steel pipe diameter information, pipe wall thickness information and steel pipe end condition information; the pipe end information corresponds to the characteristic information of each steel pipe to obtain the sequence information of each steel pipe;
step 4, printing labels, generating label printing sequence information corresponding to each steel pipe in the group of steel pipes by a label printing module (16) according to the sequence information obtained in the step 3, and printing the steel pipe characteristic information of each corresponding steel pipe on the labels according to the printing sequence information;
step 5, grabbing labels, namely moving a labeling module (13) to the position above an anti-sticking labeling table (12) of a label printing module (16) by using a six-axis robot (1) to correspondingly grab the printed labels;
and 6, labeling, namely moving the labeling module (13) adsorbing the labels to the labeling positions of the group steel pipe (2) by the six-axis robot (1), penetrating into the corresponding inner walls of the steel pipes, and attaching the labels to the inner walls of the steel pipes.
8. The method according to claim 7, characterized by further comprising a step of grinding and cleaning the inner wall of the end of the steel pipe before the step 6, wherein according to the pipe end information obtained in the step 3, the rotary pneumatic grinder (6) of the labeling module (13) faces the end of the steel pipe and goes deep into the inner wall of the end of the steel pipe to grind and clean, the inner wall of the end of the steel pipe is ground, then the labeling fixture (5) is rotated to face the end of the steel pipe, and the labeling of the step 6 is started.
9. The method according to claim 7, further comprising a step 7 of secondary labeling, wherein after repeating the steps 2-5, the six-axis robot (1) moves the labeling module (13) adsorbing the secondary label to the labeling position of the steel tube array (2), and secondary labeling is performed at a position of the inner wall of the steel tube opposite to the position of the previous labeling.
10. The method according to claim 7, characterized in that after the labeling is finished, the six-axis robot (1), the labeling module 13, the 3D structure line scanning module (14) and the steel tube array positioning module (15) are reset, and after the chain bed transports the labeled steel tube array (2), the next non-labeled steel tube array (2) is transported to the labeling work area for labeling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210928237.0A CN115072115B (en) | 2022-08-03 | 2022-08-03 | System and method for labeling inner wall of pipe end of steel pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210928237.0A CN115072115B (en) | 2022-08-03 | 2022-08-03 | System and method for labeling inner wall of pipe end of steel pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115072115A true CN115072115A (en) | 2022-09-20 |
| CN115072115B CN115072115B (en) | 2023-11-28 |
Family
ID=83243851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210928237.0A Active CN115072115B (en) | 2022-08-03 | 2022-08-03 | System and method for labeling inner wall of pipe end of steel pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115072115B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04215932A (en) * | 1990-12-14 | 1992-08-06 | Nippon Steel Corp | Bar code label mounting/reading method for actual article tracking in uo steel pipe manufacture process |
| CN110422421A (en) * | 2019-08-14 | 2019-11-08 | 中国船舶重工集团公司第七一六研究所 | A kind of full-automatic pipe fitting labeling system |
| CN112405012A (en) * | 2020-11-21 | 2021-02-26 | 杭州佰牛科技有限公司 | Metal pipe fitting inside and outside processing all-in-one |
| CN113023022A (en) * | 2021-02-26 | 2021-06-25 | 厦门馨天达金属制造有限公司 | Automatic pipe labeling device |
| CN113086337A (en) * | 2019-12-23 | 2021-07-09 | 北京首钢自动化信息技术有限公司 | Intelligent labeling device and method for steel coil |
| CN113859695A (en) * | 2021-11-05 | 2021-12-31 | 隆扬电子(昆山)股份有限公司 | Labeling and marking method for inner wall of tube core |
-
2022
- 2022-08-03 CN CN202210928237.0A patent/CN115072115B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04215932A (en) * | 1990-12-14 | 1992-08-06 | Nippon Steel Corp | Bar code label mounting/reading method for actual article tracking in uo steel pipe manufacture process |
| CN110422421A (en) * | 2019-08-14 | 2019-11-08 | 中国船舶重工集团公司第七一六研究所 | A kind of full-automatic pipe fitting labeling system |
| CN113086337A (en) * | 2019-12-23 | 2021-07-09 | 北京首钢自动化信息技术有限公司 | Intelligent labeling device and method for steel coil |
| CN112405012A (en) * | 2020-11-21 | 2021-02-26 | 杭州佰牛科技有限公司 | Metal pipe fitting inside and outside processing all-in-one |
| CN113023022A (en) * | 2021-02-26 | 2021-06-25 | 厦门馨天达金属制造有限公司 | Automatic pipe labeling device |
| CN113859695A (en) * | 2021-11-05 | 2021-12-31 | 隆扬电子(昆山)股份有限公司 | Labeling and marking method for inner wall of tube core |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115072115B (en) | 2023-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106881589A (en) | A kind of electronic component automatic assembling machine | |
| CN217475083U (en) | Full-automatic ultrasonic wave heat sealing machine | |
| CN112718317B (en) | Conveying device with intermittent conveying function for spraying robot | |
| CN115072115A (en) | System and method for labeling inner wall of pipe end of steel pipe | |
| CN212139215U (en) | Centre gripping punching press formula red date stoner | |
| CN209831191U (en) | Glass duplex position edging system | |
| CN210501944U (en) | Automatic steel seal printing device for chain wheel | |
| CN209810566U (en) | Automatic carbon rod glue dripping and laminating machine | |
| CN111439020A (en) | Rotary disc type pad printing machine | |
| CN108080788B (en) | Laser welding device | |
| CN211938782U (en) | Bulb medium plate riveting mechanism | |
| CN113634910A (en) | Workpiece conveying and processing system | |
| CN210649955U (en) | Butt joint machine of automatic crystal blank grinding and polishing system | |
| CN109944851B (en) | Mover attaching machine | |
| CN219476481U (en) | Network transformer kludge | |
| KR100841198B1 (en) | Recliner assembling apparatus for plastically deforming housing for supporting coupling between sector gear and recliner holder | |
| CN216502765U (en) | Processing device for batch embossing machine | |
| CN111976150A (en) | Ultrasonic welding equipment | |
| CN213497341U (en) | Wire welding device | |
| CN212653241U (en) | Washing machine commutator processingequipment | |
| CN111231555A (en) | Automatic steel seal device of beating of sprocket | |
| CN220921759U (en) | Continuous automatic feeding spring grinding equipment | |
| CN213319537U (en) | Automatic polishing device for hexagonal rods | |
| CN219078223U (en) | Wire wheel feeding positioning device | |
| CN117400629B (en) | A gilt equipment for bottle lid production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |