CN115072115B - 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
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- CN115072115B CN115072115B CN202210928237.0A CN202210928237A CN115072115B CN 115072115 B CN115072115 B CN 115072115B CN 202210928237 A CN202210928237 A CN 202210928237A CN 115072115 B CN115072115 B CN 115072115B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 169
- 239000010959 steel Substances 0.000 title claims abstract description 169
- 238000002372 labelling Methods 0.000 title claims abstract description 128
- 238000000034 method Methods 0.000 title claims abstract description 17
- 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
- 239000012790 adhesive layer Substances 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 5
- 230000010485 coping Effects 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 4
- 230000032258 transport Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 206010063385 Intellectualisation Diseases 0.000 abstract 1
- 239000000463 material Substances 0.000 description 7
- 238000005498 polishing Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 238000005538 encapsulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
Classifications
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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
- B65C3/00—Labelling other than flat surfaces
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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
- B65C9/0015—Preparing the labels or articles, e.g. smoothing, removing air bubbles
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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
- B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
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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
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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
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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
- B65C9/40—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
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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
- B65C9/0015—Preparing the labels or articles, e.g. smoothing, removing air bubbles
- B65C2009/0018—Preparing the labels
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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
- B65C9/0015—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 system and a method for labeling the inner wall of a steel pipe end, comprising a control system, wherein the control system controls the steel pipe end inner wall labeling system to label the inner wall of each steel pipe of a group-row steel pipe, a six-axis robot, a labeling module electrically connected with the six-axis robot in a driving way, a 3D structure line scanning module, a group-row steel pipe positioning module and a label printing module; and the control system is used for attaching the label with the steel pipe characteristic information printed by the printing module to the inner wall of each steel pipe of the group of steel pipes through the six-axis control robot and the labeling module. The invention has the beneficial effects that: the steel pipe labeling machine can correspondingly label steel pipes in different positions and different models, improves labeling efficiency and accuracy, saves labor cost, and achieves intellectualization of industrial manufacture.
Description
Technical Field
The invention belongs to the field of seamless steel tube production and manufacturing, and particularly relates to a system and a method for labeling the inner wall of a steel tube end.
Background
In a steel pipe full-line material piece-by-piece tracking system, the most difficult part of tracking occurs after a cooling bed, no way is available at the present stage to realize material piece-by-piece tracking, in modern information technology, the technological development is rapid, the electric control, visual software development and calculation force are already satisfied with market requirements, but because the metallurgical industry belongs to basic industry, the field environment is complex, the steel pipe material piece-by-piece tracking technology is basically not available, and all the steel pipe material pieces are produced according to batches; the data in the production process cannot be uploaded to the L2 system in time, the information of the products cannot be matched, closed-loop management cannot be formed, and the decision maker blindly produces the products, so that the quality of the products is uneven; the full-automatic inner wall labeling robot realizes the tracking of the whole line material of the steel pipe one by one, the condition that the steel pipe cannot be tracked after a cooling bed becomes history, the successful application of the method fills the blank of the tracking of the steel pipe one by one, and solves the industrial problem.
Disclosure of Invention
The invention aims to solve the technical problem of labeling the inner walls of steel pipes with different pipe diameters and realizing tracking management of steel pipe type data.
The invention is realized by the following technical scheme:
the preferred scheme 1, a steel pipe end inner wall pastes mark system, including control system, control system control steel pipe end inner wall pastes mark system to each steel pipe inner wall of group's row steel pipe, its characterized in that still includes: the system comprises a six-axis robot, a labeling module, a 3D structure line scanning module, a steel tube positioning module and a label printing module, wherein the labeling module is electrically connected with the six-axis robot in a driving way; and the control system is used for attaching the label with the steel pipe characteristic information printed by the printing module to the inner wall of each steel pipe of the group of steel pipes through the six-axis control robot and the labeling module.
The steel pipe end inner wall labeling system according to the preferred scheme 1 is characterized in that the labeling module comprises a 90-degree overturning cylinder, at least one vacuum labeling fixture, at least one pneumatic coping device and a calibration plate.
The labeling system for the inner wall of the pipe end of the steel pipe according to the preferred scheme 1 or 2 is characterized in that the 3D structure line scanning module comprises a 3D line scanning sensor and a linear module, the 3D line scanning sensor is arranged on the linear module, and the 3D line scanning sensor moves back and forth on the linear module through a driving device.
The system for labeling the inner wall of the pipe end of the steel pipe according to the preferred scheme 3 is characterized in that the 3D structure line scanning module sequentially scans the group steel pipes to obtain position information, pipe diameter information, pipe wall thickness information and pipe end condition information of the steel pipe.
The steel pipe end inner wall labeling system according to the preferred scheme 4 is characterized in that the steel pipe positioning module comprises a bracket, a band guide cylinder arranged on the bracket and a silica gel pressing block connected with the band guide cylinder.
The steel pipe end inner wall labeling system according to the preferred scheme 5 is characterized in that the label printing module comprises a label printer and an anti-sticking label taking table, wherein after the label is printed by the label printer, the label is conveyed to the anti-sticking label taking table through a stripper, an adhesive layer of the label is downward in contact with the anti-sticking label taking table, and the anti-sticking label taking table comprises a vacuum system.
The method for labeling the inner wall of the pipe end of the steel pipe is characterized by comprising the following steps of
Step 1, labeling preparation, wherein a control system generates and transmits labeling standard standby information to a steel pipe end inner wall labeling system, wherein the labeling standard standby information comprises starting information and characteristic information of each steel pipe in the group of steel pipes;
step 2, positioning the steel pipes, wherein after the control system recognizes that the steel pipes in the group reach the labeling working area, the steel pipe positioning module in the group limits and positions the steel pipes in the group;
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 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; and 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 a label, wherein a label printing module generates label printing sequence information corresponding to each steel pipe in the group of steel pipes according to the sequence information obtained in the step 3, and prints the corresponding steel pipe characteristic information of each steel pipe on the label according to the printing sequence information;
step 5, label grabbing, wherein the six-axis robot 1 moves the labeling module to the position above the anti-sticking label taking table of the label printing module, and correspondingly grabs the printed label;
and 6, labeling, namely moving the labeling module adsorbed with the label to the labeling position of the steel tube row by the six-axis robot, penetrating into the corresponding inner wall of the steel tube, and labeling the label on the inner wall of the steel tube.
The method according to the foregoing is characterized in that the method further includes, before the step 6, a step of polishing and cleaning an inner wall of the end portion of the steel pipe, and according to the pipe end information obtained in the step 3, the rotary pneumatic polishing device of the labeling module faces the end portion of the steel pipe and goes deep into the inner wall of the end portion of the steel pipe to polish and clean the inner wall of the end portion of the steel pipe, and then the vacuum labeling fixture is rotated to face the end portion of the steel pipe to start the labeling in the step 6.
The method is characterized by further comprising a step 7 of secondarily labeling, wherein after repeating the steps 2-5, the six-axis robot moves the labeling module adsorbed with the secondary label to the labeling position of the steel tube row, and secondary labeling is performed at the position of the inner wall of the steel tube opposite to the position of the previous labeling.
The method is characterized in that after labeling, the six-axis robot, the labeling module 13, the 3D structure line scanning module and the row steel tube positioning module are reset, and after the row steel tubes which are labeled are conveyed away by a chain bed, the next row steel tubes which are not labeled are conveyed to the labeling working area for labeling.
The beneficial effects of the invention are as follows: automatic steel pipe identification and marking are achieved through the six-axis robot with machine vision, the labeling efficiency of the steel pipes can be greatly improved, labor is saved, and safety in the production process is guaranteed.
Drawings
FIG. 1 is a schematic diagram of a system for labeling the inner wall of a steel pipe end;
FIG. 2 is a schematic diagram of a labeling module according to the present invention;
FIG. 3 is a schematic diagram of a 3D structure line scan module according to the present invention;
FIG. 4 is a schematic structural view of a steel pipe positioning module for a row according to the present invention;
fig. 5 is a schematic structural view of the label printing module of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
Examples
A system and a method for labeling the inner wall of a steel pipe end as shown in fig. 1-5. The system and the method for labeling the inner walls of the pipe ends of the steel pipes can uniformly label the group steel pipes 2 consisting of a plurality of steel pipes.
The system for labeling the inner wall of the pipe end of the steel pipe comprises a six-axis robot 1, a labeling module 13,3D structure line scanning module 14, a group steel pipe positioning module 15 and a label printing module 16, wherein the labeling module 13,3D structure line scanning module 14 is electrically connected with the six-axis robot 1 in a driving way; the system further comprises two control systems, namely an L1 system and an L2 system, wherein the L1 system is used for controlling each part to cooperatively work to label the inner wall of the steel pipe, the L2 system is used for communicating to the L1 system in advance and transmitting relevant characteristic information such as the specification and the model of the steel pipe, the characteristic information comprises but not limited to information such as product batch, size model and materials, and the characteristic information can be printed on a label in any combination form such as characters, patterns, bar codes or two-dimensional codes; the L1 system and the L2 system are control systems realized by computers.
The labeling module 13 is mounted at the movable arm end of the six-axis robot 1 and can be linked with the six-axis robot 1. The labeling module 13 comprises a 90-degree overturning cylinder 4, at least one vacuum labeling fixture 5, at least one pneumatic grinder 6 and a calibration plate 3 arranged on a vertical plane, preferably, the vacuum labeling fixture 5 and the pneumatic grinder 6 are correspondingly and respectively provided with three or more than three calibration plates 3 for machine vision identification; the 90-degree overturning cylinder 4 has the function of rotating around a vertical axis in a direction of +90 degrees or-90 degrees in sequence, the 90-degree overturning cylinder 4 is fixedly connected with the vacuum labeling fixture 5 and the pneumatic coping device 6 through the connecting frame 41, and the pneumatic coping device 6 and the vacuum labeling fixture 5 are oppositely arranged and connected on the connecting frame 41 in a reverse mode; the vacuum labeling fixture 5 is provided with a labeling and encapsulation sucker 51, the labeling and encapsulation sucker 51 comprises an aluminum alloy sucker 511 and a silica gel sucker 512 arranged on the aluminum alloy sucker, and the vacuum labeling fixture 5 can rotate by 90 degrees in sequence based on a horizontal axis; the pneumatic coping device 6 comprises a high-speed pneumatic hairbrush, and can penetrate 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 8,3D, the line scanning sensor 7 is disposed 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, where the driving device 7 is preferably a motor.
The steel tube locating module 15 comprises a bracket 151, a guide cylinder 9 arranged on the bracket and a silica gel pressing block 10 connected to the guide cylinder 9, and the steel tube 2 is located on the chain bed 21 by limiting the movement of the steel tube 2 by pressing the silica gel pressing block 10.
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 labels, the labels are conveyed to the anti-sticking label taking table 12 through a stripper, an adhesive layer of the labels is downward and is in contact with the anti-sticking label taking table 12, the anti-sticking label taking table 12 comprises a vacuum system, the labels are adsorbed on the table, the anti-sticking label taking table 12 is made of anti-sticking coating, preferably, any anti-sticking material such as Teflon, so that the adhesive layer of the labels does not have particularly high adsorption force, the anti-sticking label taking table 12 comprises a plurality of, preferably five, 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 borne according to a label printing sequence, after the labels on the anti-sticking label taking table 12 are taken, the labels are reset to start to print the next round of labels, and the label printing module 16 preferably comprises two label printers 11, so that the labels can be printed in batches at the same time, and alternatively printed.
The specific working steps are as follows:
step 1, paste standard preparation: the L1 system sends a preparation system to the labeling system of the inner wall of the pipe end of the steel pipe, 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 group steel pipe 2 to be labeled and the like to the L1 system;
step 2, positioning the steel pipe: the group-row steel pipes 2 are conveyed to a labeling working area through a chain bed 21, the 3D structure line scanning module 14 detects that the group-row steel pipes 2 enter the working area and sends a steel pipe in-place signal to an L1 system, and the L1 system controls the belt guide cylinder 9 of the group-row steel pipe positioning module 15 to drive the silica gel pressing block 10 to downwards force so as to press the group-row steel pipes 2 entering the labeling working area;
step 3, position identification: the 3D line scanning sensor 7 of the 3D structure line scanning module 14 emits 3D structure light, and scans and detects the position information, the pipe diameter, the pipe wall thickness, the pipe end condition and the like of the pipe ends of the steel pipes in the group of steel pipes 2 relative to the six-axis robot 1; the position information includes the sequential position of the steel pipe in the steel pipe row 2, which is rolling forward on the chain bed 21, and the distance position of the steel pipe end relative to the 3D structure line scanning module 14, and the steel pipe end condition information includes burrs, saw teeth, pipe end inclination, etc.; and (3) generating label printing sequence information corresponding to each steel pipe in the group of steel pipes according to the information such as the pipe diameter and the pipe wall thickness of the steel pipe and the characteristic information corresponding to the specification and the model of the steel pipe input in the step (1).
Step 4, printing a label: the L1 system sends the received printing sequence information and the control instruction to send the corresponding information such as the specification and the model of the steel tube to the label printing module 16, the label printer 11 of the label printing module 16 sequentially prints the information such as the specification and the model of each group of steel tubes 2 on each label, the labels are peeled off from the label printing paper through a stripper (which can be arranged in a label outlet of the printer) and are transmitted to the anti-sticking label taking table 12, the adhesive layer of the labels is downward contacted with the anti-sticking label taking table 12, the anti-sticking label taking table 12 adsorbs the labels on the anti-sticking label taking table 12 through a vacuum system, preferably, the anti-sticking label taking table 12 has five anti-sticking label taking tables, the anti-sticking label taking table 12 and the label outlet of the label printer 11 can move transversely relatively, and the labels printed by adsorption are sequentially carried according to the label printing sequence.
Step 5, label grabbing: the six-axis robot 1 moves the labeling module 13 to the upper part of the anti-sticking label taking table 12 of the label printing module 16, the 90-degree overturning cylinder 4 rotates the vacuum labeling clamp 5 to the upper part of the anti-sticking label taking table 12, the vacuum labeling clamp 5 sequentially rotates at 90 degrees axially, the label taking encapsulation sucking disc 51 rotates to a downward position, the six-axis robot 1 moves the labeling module 13 downwards, the silica gel sucking disc 512 of the label taking encapsulation sucking disc 51 is in contact with a printed label, the label is adsorbed in vacuum, and meanwhile, the anti-sticking label taking table 12 closes the vacuum adsorption.
And 6, labeling: the six-axis robot 1 moves the labeling module 13 with the adsorbed labels to the labeling positions of the steel tube row, the six-axis robot 1 controls the vacuum labeling fixture 5 of the labeling module 13 with the labels, and the vacuum labeling fixture 5 is penetrated into the inner wall of the steel tube at the set labeling depth position according to the position information obtained in the step 3, and the labels are attached to the inner wall of the steel tube;
the step 6 is preceded by a step of polishing and cleaning the inner wall of the end part of the steel pipe, and according to the pipe end information obtained in the step 3, the labeling module 13 adsorbed with the label rotates the pneumatic grinder 6 to a position facing the end part of the steel pipe through the 90-degree overturning cylinder 4, and the six-axis robot 1 stretches the pneumatic grinder 6 into the inner wall of the steel pipe to polish and clean the inner wall of the steel pipe; after polishing and cleaning, according to the position information obtained in the step 3, the 90-degree overturning cylinder 4 rotates the vacuum labeling fixture 5 with the labels attached to the end part of the steel pipe to the position facing the end part of the steel pipe, and then the vacuum labeling fixture penetrates into the inner wall of the steel pipe at the set labeling depth position, and the labels are 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 the step 3 is performed.
In addition, optionally, in order to improve the success rate of labeling and to facilitate the subsequent identification of the label, it is preferable to perform the secondary labeling again.
Step 7, secondary labeling: after repeating the steps 2-5, the six-axis robot 1 moves the labeling module 13 with the secondary label adsorbed to the labeling position of the steel tube row, the labeling module 13 of the label rotates the vacuum labeling fixture 5 to a position 180 degrees opposite to the labeling position of the last time, the vacuum labeling fixture 5 of the labeling module 13 is penetrated 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 a new label is attached to the opposite position of the first label.
After labeling, 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 conveys the labeled group steel tubes 2 away, the next group of unlabeled group steel tubes 2 are conveyed to the labeling working area for labeling.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the invention, and that simple modifications and substitutions by those skilled in the art are within the scope of the invention without departing from the spirit and scope of the invention.
Claims (9)
1. The method for labeling the inner wall of the pipe end of the steel pipe is characterized by comprising the following steps of:
step 1, labeling preparation, wherein a control system generates and transmits labeling standard standby information to a steel pipe end inner wall labeling system, wherein the labeling standard standby information comprises starting information and characteristic information of each steel pipe in a group of steel pipes (2);
step 2, steel tube positioning, wherein after the control system recognizes that the group-row steel tubes (2) reach a labeling working area, a group-row steel tube positioning module (15) limits and positions the group-row steel tubes (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, wherein a label printing module (16) generates label printing sequence information corresponding to each steel pipe in the group of steel pipes according to the sequence information obtained in the step 3, and prints the corresponding steel pipe characteristic information of each steel pipe on the labels according to the printing sequence information;
step 5, label grabbing, namely moving a labeling module (13) to the upper part of an anti-sticking label taking table (12) of a label printing module (16) by a six-axis robot (1), and correspondingly grabbing the printed label;
and 6, labeling, namely moving the labeling module (13) adsorbed with the label to the labeling position of the group of steel pipes (2) by the six-axis robot (1), penetrating into the corresponding inner wall of the steel pipe, and labeling the label on the inner wall of the steel pipe.
2. The method according to claim 1, further comprising, before said step 6, a step of grinding and cleaning the inner wall of the end of the steel pipe, the labelling module (13) comprising a 90 degree tilting cylinder (4), at least one vacuum labelling fixture (5), at least one pneumatic grinder (6) and a calibration plate (3) according to the pipe end information obtained in said step 3; the pneumatic coping device (6) of the labeling module (13) faces the steel pipe end and stretches into the inner wall of the steel pipe end to polish and clean, the inner wall of the steel pipe end is polished and then the vacuum labeling clamp (5) is rotated to face the steel pipe end, and labeling in the step 6 is started.
3. The method according to claim 1, 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) having the secondary label adsorbed thereto to the labeling position of the group of steel pipes (2), and performs secondary labeling at a position of the inner wall of the steel pipe opposite to the position of the previous labeling.
4. Method according to claim 1, characterized in that after labelling, the six-axis robot (1), the labelling module 13, the 3D structure line scanning module (14) and the row steel tube positioning module (15) are reset, and after the chain bed transports the row steel tubes (2) which have been labelled away, the next batch of unlabelled row steel tubes (2) is transported to the labelling working area for labelling.
5. A system for executing the method for labeling the inner walls of the ends of steel pipes according to claim 1, comprising a control system for controlling the system for labeling the inner walls of the steel pipes of the group of steel pipes (2), characterized by further comprising: the system 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 steel tube positioning module (15) and a label printing module (16); the control system is used for attaching the label with the steel pipe characteristic information printed by the label printing module (16) to the inner wall of each steel pipe of the group of steel pipes (2) by controlling the six-axis robot (1) and the labeling module (13).
6. The steel pipe end inner wall labeling system according to claim 5, 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).
7. The system for labeling the inner wall of the pipe end of the steel pipe according to claim 6, wherein the 3D structure line scanning module (14) sequentially scans the group of steel pipes (2) to obtain position information, pipe diameter information, pipe wall thickness information and pipe end condition information of the steel pipe.
8. The steel tube end inner wall labeling system according to claim 7, wherein the group of steel tube positioning modules (15) comprises a bracket (151) and a band guide cylinder (9) arranged on the bracket (151), and a silica gel press block (10) connected to the band guide cylinder (9).
9. The steel pipe end inner wall labeling system according to claim 8, wherein the label printing module (16) comprises a label printer (11) and a label picking-up prevention table (12), wherein after the label is printed by the label printer (11), the label is conveyed to the label picking-up prevention table (12) through a stripper, an adhesive layer of the label is downward contacted with the label picking-up prevention table (12), and the label picking-up prevention table (12) comprises a vacuum system.
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| CN202210928237.0A CN115072115B (en) | 2022-08-03 | 2022-08-03 | System and method for labeling inner wall of pipe end of steel pipe |
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| CN202210928237.0A CN115072115B (en) | 2022-08-03 | 2022-08-03 | System and method for labeling inner wall of pipe end of steel pipe |
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| CN115072115B true CN115072115B (en) | 2023-11-28 |
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| 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
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| 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 |
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| CN115072115A (en) | 2022-09-20 |
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