CN212220805U - Robot-based continuous casting square billet end face labeling system - Google Patents

Abstract

The utility model discloses a continuous casting square billet terminal surface pastes mark system based on robot, comprises a workbench, a printer, label conveyor, the robot, the dephosphorization pastes the mark device, the printer is fixed on the workstation, label conveyor includes horizontal cylinder, a slide, the label suction disc, the connecting seat, horizontal cylinder fixes on the workstation, the slide is fixed on horizontal cylinder's output, the label suction disc passes through the connecting seat to be fixed on the slide, the label suction disc slope sets up, along closing on the export of printer on it, down along keeping away from the printer, the mounting groove has been seted up down at the back, openly set up the gas pocket of mounting groove under the intercommunication, lower mounting groove inner seal installs vacuum generator, the robot is located the side of workstation, the expansion end at the robot is fixed to the dephosphorization pastes the mark device. The utility model has the advantages that: the label suction plate with the gradient is used for avoiding the tag falling time in the air as much as possible, avoiding the tag from overturning, reducing the failure rate and being particularly suitable for labeling small tags.

Description

Robot-based continuous casting square billet end face labeling system

Technical Field

The utility model relates to a continuous casting square billet terminal surface pastes mark system, especially a continuous casting square billet terminal surface pastes mark system based on robot belongs to automatic control's technical field.

Background

As shown in the utility model patent with the patent name of 'labeling robot equipment, system and method suitable for high temperature environment' (China, publication No. CN109625503A, published Japanese 2019.4.16), the labeling robot comprises a label printing device, a label conveying device, a robot device and a label identification device, when in use, a label is printed in the label printing device, falls on the label conveying device, and is adsorbed by a second vacuum adsorption piece after being conveyed in place. In this structure, lack the intermediate link between label printing device and the label conveyor, the label is when the free fall with contact label conveyor, especially small-size label, and the upset is taken place to the high possibility to subsequent subsides mark process causes the influence, and the fault rate is higher.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: to the problem, the utility model aims at providing a continuous casting square billet terminal surface pastes mark system based on robot, the automatic subsides mark that is particularly useful for small-size label can avoid it to overturn when dropping, reduces the fault rate.

The technical scheme is as follows: a robot-based continuous casting square billet end face labeling system comprises a workbench, a printer, a label conveying device, a robot and a phosphorus removal labeling device, wherein the printer is fixed on the workbench and used for printing labels, the label conveying device comprises a horizontal cylinder, a sliding seat, a label suction plate and a connecting seat, the horizontal cylinder is fixed on the workbench, the sliding seat is fixed on the output end of the horizontal cylinder, the label suction plate is fixed on the sliding seat through the connecting seat, the label suction plate is arranged in a gradient manner, a lower mounting groove is formed in the upper edge of the label suction plate and the lower edge of the label suction plate are far away from the printer, the back surface of the label suction plate is provided with an air hole communicated with the lower mounting groove, a vacuum generator is hermetically mounted in the lower mounting groove, the robot is positioned on the side of the workbench, the phosphorus removal labeling device is fixed at the movable end of the robot, and the moving range covers the label suction plate and the square billet end face, and is used for taking labels from the label suction plate, removing phosphorus from the square billet end face and labeling the square billet end face.

The principle of the utility model is that: when the label is used, the label is printed through the printer, drops on the front surface of the label suction plate after being cut off by a cutter arranged at the outlet of the printer, and is sucked by the vacuum generator and adsorbed through the air hole. Then, the horizontal cylinder drives the sliding seat to move outwards to drive the label suction plate to leave the outlet of the printer, so that the label can be conveniently taken. And then, the robot drives the dephosphorization labeling device to be close to the label suction plate, the dephosphorization labeling device is controlled to pick labels from the label suction plate, the vacuum generator stops working, and finally the robot drives the dephosphorization labeling device to be close to the end face of the square billet to carry out dephosphorization and labeling. In this structure, because the label suction disc adopts the slope setting, and its upper edge closes on the export of printer, the time of falling in the air of reduction label that can the at utmost to adsorb behind its landing air hole position, avoid it to take place the upset, reduce the fault rate.

The label conveying device further comprises a lifting cylinder and a lower baffle, wherein the lifting cylinder is vertically fixed on the sliding seat, and the lower baffle is fixed at the upper end of the lifting cylinder and arranged along the lower edge of the label suction plate; the lower baffle plate is driven by the lifting cylinder to ascend to shield the lower edge of the label suction plate or descend to expose the lower edge of the label suction plate. In the structure, when the label is printed and falls onto the label suction plate, the lower baffle plate is positioned at the upper position, so that the label can be prevented from falling from the lower edge of the label suction plate, and the label can be aligned so as to be convenient for pasting the label in the follow-up process; when the dephosphorization labeling device picks up the label from the label suction plate, the lower baffle is positioned at the lower position, so that the interference on the picking up of the dephosphorization labeling device can be prevented.

Furthermore, the label conveying device also comprises a left baffle, the left baffle is arranged in a gradient manner, the lower end of the left baffle is fixed with the lower baffle, and the side surface of the left baffle is arranged along the side wall of the label suction plate; the left baffle is driven by the lower baffle to ascend to shield the left side of the label suction plate or descend to expose the left side of the label suction plate. The principle of this structure is the same as above, can prevent that the label from dropping from the left side of label suction disc, prevents to mark device to remove phosphorus simultaneously and gets the interference of mark.

Further, the label conveying device further comprises a right baffle and a right air cylinder, the right air cylinder is horizontally fixed on the workbench, the right baffle is fixed at the left end of the right air cylinder, the right baffle is arranged at a height corresponding to the label suction plate, and the right air cylinder drives the right baffle to abut against the right wall of the label suction plate so as to prevent the label from falling off from the right side of the label suction plate. The principle of this structure is the same as above, and when right cylinder drive right baffle leaned on label suction disc right wall, can prevent that the label from dropping from the right side of label suction disc, when right cylinder drive right baffle kept away from label suction disc right wall, can prevent to mark device and get the target interference to the dephosphorization. In addition, in this structure, can predetermine the width of label suction disc according to the width of label, can be through the cooperation of left baffle, right baffle with the accurate spacing of label, be applicable to the subsides mark technology that has the high accuracy requirement.

Further, the label conveying device further comprises a photoelectric sensor, an upper mounting groove is formed in the front face of the label suction plate, the photoelectric sensor is mounted in the upper mounting groove, the position where the upper mounting groove is formed is higher than the air hole, and the photoelectric sensor is in signal correlation with the vacuum generator. In this structure, the label falls on the front of label suction disc back, when sliding along it, during through photoelectric sensor, photoelectric sensor signal control vacuum generator starts to adsorb the label in gas vent department.

Further, the surface of the photoelectric sensor is flush with the front surface of the label suction plate, and the photoelectric sensor is arranged along the inner wall of the upper mounting groove in a sealing manner, so that the label can slide smoothly on the front surface of the label suction plate.

Furthermore, an installation through hole is further formed in the label suction plate, the side face of the installation through hole is communicated with the upper installation groove and used for wiring from the back face of the label suction plate after the photoelectric sensor is installed, and the label suction plate is safe and attractive.

Further, the setting slope of label suction plate is 38 ~ 48.

Further, the horizontal cylinder adopts a transplanting cylinder to improve stability.

Preferably, the dephosphorization labeling device comprises an installation frame, a labeling mechanism, a dephosphorization mechanism and an installation flange, wherein the installation frame is of a hollow structure, the left end and the right end of the installation frame are respectively provided with the labeling mechanism and the dephosphorization mechanism, one end of the installation flange is fixed on the outer wall of the installation frame, and the other end of the installation flange is connected with the robot. In the mechanism, the dephosphorization mechanism is used for dephosphorization for the end face of the square billet, and the labeling mechanism is used for taking labels from the label suction plate and labeling the end face of the square billet. When the labeling machine is used, the robot respectively carries out the operation of the labeling mechanism and the dephosphorization mechanism by controlling the rotation of the mounting flange, and the integration level is high.

Further, the dephosphorization labeling device further comprises a laser displacement sensor, wherein the laser displacement sensor is fixed on the outer wall of the installation frame and faces the square billet end face, and is used for detecting the central position of the square billet end face and measuring the distance between the dephosphorization labeling device and the square billet end face so as to facilitate dephosphorization and labeling operation.

Further, dephosphorization labeling device still includes recheck bar code scanner, recheck bar code scanner is fixed on the outer wall of installation frame, and towards square billet terminal surface is used for finishing the square billet terminal surface and pastes the mark back, sweeps the sign indicating number and confirms.

Furthermore, the rechecking code scanner and the labeling mechanism are arranged in the same direction, and the laser displacement sensor and the phosphorus removal mechanism are arranged in the same direction. In the structure, when the dephosphorization labeling device is used, the steps are firstly dephosphorization and then labeling, and when the dephosphorization is carried out, the dephosphorization mechanism faces the end face of the square billet, and the laser displacement sensor arranged in the same direction as the dephosphorization mechanism can be used for directly positioning and measuring distance. And after accomplishing the dephosphorization, the robot drive flange is rotatory, drives labeller and moves the square billet terminal surface, pastes the mark, and after accomplishing, scans the sign indicating number and confirms through the recheck bar code scanner rather than the syntropy setting, and this kind of setting orientation can sparingly control the beat, raises the efficiency.

Further, dephosphorization pastes mark device still including fixing safety cover on the installation frame outer wall, laser displacement sensor, reinspection bar code scanner are located in the safety cover, the both ends of safety cover be provided with respectively with the transparent window of laser displacement sensor, reinspection bar code scanner counterpoint for laser displacement sensor fixes a position to and the reinspection bar code scanner sweeps the sign indicating number. This structure can prevent that on-the-spot dust from invading laser displacement sensor, rechecking bar code scanner, causing the damage.

Preferably, the dephosphorization mechanism includes pneumatic motor, bearing frame, bearing, brush head, the bearing frame with installation frame floating connection, the bearing is sealed to be fixed in the bearing frame, pneumatic motor unsettled set up in the installation frame, its output shaft passes installation frame, bearing are outwards stretched out, brush head cover is established on the tip of output shaft. In this structure, the brush head adopts the structure of polishing of floating, does benefit to the control to the precision of polishing of square billet terminal surface.

Has the advantages that: compared with the prior art, the utility model has the advantages that: 1. the label suction plate with the gradient arrangement avoids the time of falling off the label in the air as much as possible, avoids the label from turning over, reduces the failure rate, and is particularly suitable for labeling small labels; 2. the left baffle and the right baffle form accurate limit on the label, so that the labeling accuracy is improved; 3. the dephosphorization mechanism adopts the structure of polishing of floating to realize the accurate control to the degree of depth of polishing, improve the dephosphorization effect, do benefit to and paste the mark.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the table position;

FIG. 3 is a schematic perspective view of the label feeding device;

FIG. 4 is a schematic front view of the label suction plate;

FIG. 5 is a schematic view showing a back structure of a label suction plate;

FIG. 6 is a schematic perspective view of a dephosphorization labeling apparatus;

FIG. 7 is a semi-sectional view of the dephosphorization labeling device;

fig. 8 is a perspective sectional view of the dephosphorization labeling device.

Detailed Description

The invention will be further elucidated with reference to the drawings and specific embodiments, which are intended to illustrate the invention and are not intended to limit the scope of the invention.

A robot-based continuous casting square billet end face labeling system is shown in attached figure 1 and comprises a workbench 1, a printer 2, a label conveying device 3, a robot 4 and a dephosphorization labeling device 5.

As shown in fig. 1 and 2, the printer 2 is fixed on the workbench 1 for printing labels, the robot 4 is located at the side of the workbench 1, and the dephosphorization labeling device 5 is fixed at the movable end of the robot 4.

As shown in fig. 3, the label feeding device 3 includes a horizontal cylinder 31, a slide 32, a label suction plate 33, a connecting base 34, a lifting cylinder 35, a lower baffle 36, a left baffle 37, a right baffle 38, a right cylinder 39, and a photoelectric sensor 310. The horizontal cylinder 31 is fixed on the worktable 1, and the horizontal cylinder 31 is preferably a transplanting cylinder to improve stability. The slide base 32 is fixed on the output end of the horizontal cylinder 31, the label suction plate 33 is fixed on the slide base 32 through the connecting base 34, the label suction plate 33 is arranged in a gradient manner, the upper edge of the label suction plate is close to the outlet of the printer 2 and the lower edge of the label suction plate is far away from the printer 2 as shown in the attached drawing 2, the back surface of the label suction plate is provided with a lower mounting groove 33a as shown in the attached drawing 5, the front surface of the label suction plate is provided with an air hole 33b communicated with the lower mounting groove 33a as shown in the attached drawing. The lifting cylinder 35 is vertically fixed on the sliding seat 32, and the lower baffle 36 is fixed at the upper end of the lifting cylinder 35 and arranged along the lower edge of the label suction plate 33; the lower shutter 36 is driven by the elevating cylinder 35 to ascend to shield the lower edge of the label suction plate 33 or descend to expose the lower edge of the label suction plate 33. The left baffle 37 is arranged in a slope, the lower end of the left baffle is fixed with the lower baffle 36, and the side surface of the left baffle is arranged along the side wall of the label suction plate 33; the left shutter 37 is lifted up to shield the left side of the label suction plate 33 or lowered down to expose the left side of the label suction plate 33 by the lower shutter 36. The right cylinder 39 is horizontally fixed on the workbench 1, the right baffle 38 is fixed at the left end of the right cylinder 39, the setting height of the right baffle 38 corresponds to the label suction plate 33, and the right cylinder 39 drives the right baffle 38 to abut against the right wall of the label suction plate 33 so as to prevent the label from falling off from the right side of the label suction plate.

In this embodiment, in order to facilitate the signal control of the vacuum generator 33c, as shown in fig. 4, an upper mounting groove 33d is formed on the front surface of the label suction plate 33, the photoelectric sensor 310 is mounted in the upper mounting groove 33d, the opening position of the upper mounting groove 33d is higher than the air hole 33b, and the photoelectric sensor 310 is in signal connection with the vacuum generator 33 c. In this embodiment, in order to facilitate the label to slide smoothly on the front surface of the label suction plate 33, the outer surface of the photoelectric sensor 310 is flush with the front surface of the label suction plate 33, and the photoelectric sensor 310 is disposed along the inner wall of the upper mounting groove 33d in a sealing manner.

In this embodiment, in order to enable the photoelectric sensor 310 to route wires from the back of the label suction plate 33 and improve the safety, as shown in fig. 4 and 5, an installation through hole 33e is further formed in the label suction plate 33, and the side surface of the installation through hole 33e is communicated with the upper installation groove 33 d.

In this embodiment, the setting gradient of the label suction plate 33 is preferably 38 to 48 ° in order to avoid the slide of the label without being affected and to avoid the turnover thereof.

As shown in fig. 6 to 8, the dephosphorization labeling device 5 includes an installation frame 51, a labeling mechanism 52, a dephosphorization mechanism 53, an installation flange 54, a laser displacement sensor 55, a rechecking code scanner 56, and a protection cover 57. The mounting frame 51 is a hollow structure, the left and right ends of which are respectively provided with the labeling mechanism 52 and the dephosphorization mechanism 53, one end of the mounting flange 54 is fixed on the outer wall of the mounting frame 51, and the other end is connected with the robot 4. The laser displacement sensor 55, the rechecking scanner 56 and the protection cover 57 are all fixed on the outer wall of the installation frame 51, in this embodiment, the three and the installation flange 54 are preferably fixed on a set of opposite sides of the installation frame 51, the laser displacement sensor 55 and the rechecking scanner 56 are located inside the protection cover 57, and two ends of the protection cover 57 are respectively provided with transparent windows aligned with the laser displacement sensor 55 and the rechecking scanner 56. In this embodiment, the rechecking and code scanning device 56 is preferably disposed in the same direction as the labeling mechanism 52, and the laser displacement sensor 55 is preferably disposed in the same direction as the phosphorus removal mechanism 53.

The phosphorus removal mechanism 53 specifically comprises a pneumatic motor 53a, a bearing seat 53b, a bearing 53c and a brush head 53d, wherein the bearing seat 53b is connected with the installation frame 51 in a floating manner, the bearing 53c is fixed in the bearing seat 53b in a sealing manner, the pneumatic motor 53a is arranged in the installation frame 51 in a suspending manner, an output shaft of the pneumatic motor 53a penetrates through the installation frame 51, the bearing seat 53b and the bearing 53c to extend outwards, and the brush head 53d is sleeved on the end part of the output shaft.

In this embodiment, the floating connection structure of the bearing seat 53b and the mounting frame 51 is specifically: four guide rods 53e are fixed at four corners of the end portion of the installation frame 51, wherein two guide rods 53e are sleeved with linear bearings 53f, the end portions of the linear bearings 53f are fixed with bearing seats 53b, the other two guide rods are sleeved with springs 53g, and two ends of each spring 53g are respectively abutted against the installation frame 51 and the bearing seats 53 b. When the polishing brush is used, the brush head polishes the end face of a square billet, the linear bearing is pressed to slide along the guide rod, and the pressure of the spring enables the linear bearing to return to the original position, so that a floating polishing structure is formed. In this embodiment, preferably, the guide rod 53e on which the linear bearing 53f is fitted and the guide rod 53e on which the spring 53g is fitted are arranged to intersect with each other.

When the continuous casting square billet end face labeling system in the embodiment is used, the lower baffle and the left baffle are located at the upper position, after a label is printed by the printer, the label is cut off by a cutter arranged at the outlet of the printer, falls on the front surface of the label suction plate and slides along the downward edge of the label suction plate, and when the label passes through the photoelectric sensor during the process, the photoelectric sensor controls the vacuum generator to start by signals, so that the label is adsorbed at the air hole. And then, the right cylinder pushes the right baffle to abut against the right wall of the label suction plate, so that the label is accurately positioned. And then, the horizontal air cylinder is pushed outwards to push the label suction plate away from the outlet of the printer. Then the lifting cylinder descends, the lower baffle and the left baffle expose out of the label suction plate, and the label conveying process is completed.

And then, the robot drives the labeling mechanism to approach the label suction plate for label taking. And then, positioning the distance between the center position of the square billet end face and the robot and the square billet end face through a laser displacement sensor. After the positioning is finished, the brush head of the phosphorus removal mechanism is driven to contact the end face of the square billet to carry out floating phosphorus removal. After the dephosphorization is finished, the label taken from the label suction plate is attached to the end face of the square billet through a labeling mechanism, so that the labeling process is finished.

In this embodiment, the label suction disc through the slope setting avoids the time of falling in air of label as far as possible, avoids it to take place the upset, reduces the fault rate, is particularly useful for the subsides mark of small-size label. Simultaneously, form accurate spacing to the label through left baffle and right baffle, increase and paste the mark accuracy. In addition, dephosphorization mechanism adopts the structure of polishing of floating to realize improving dephosphorization effect to the accurate control of the degree of depth of polishing, do benefit to and paste the mark.

Claims (15)

1. The utility model provides a continuous casting square billet terminal surface pastes mark system based on robot which characterized in that: comprises a workbench (1), a printer (2), a label conveying device (3), a robot (4), a dephosphorization labeling device (5), wherein the printer (2) is fixed on the workbench (1) for printing labels, the label conveying device (3) comprises a horizontal cylinder (31), a slide seat (32), a label suction plate (33) and a connecting seat (34), the horizontal cylinder (31) is fixed on the workbench (1), the slide seat (32) is fixed on the output end of the horizontal cylinder (31), the label suction plate (33) is fixed on the slide seat (32) through the connecting seat (34), the label suction plate (33) is arranged at a slope, the slope of the label suction plate (33) is close to the outlet of the printer (2), the lower edge of the label suction plate is far away from the printer (2), the back is provided with a lower mounting groove (33a), and the air hole (33b) communicated with the lower mounting groove (33a) is opened on the front side, lower mounting groove (33a) internal seal installs vacuum generator (33c), robot (4) are located the side of workstation (1), dephosphorization pastes mark device (5) and fixes the expansion end of robot (4), and its home range covers label suction disc (33) and square billet terminal surface are used for following get mark on label suction disc (33) to and for square billet terminal surface dephosphorization and subsides mark.

2. The system of claim 1, wherein: the label conveying device (3) further comprises a lifting cylinder (35) and a lower baffle plate (36), the lifting cylinder (35) is vertically fixed on the sliding seat (32), and the lower baffle plate (36) is fixed at the upper end of the lifting cylinder (35) and arranged along the lower edge of the label suction plate (33); the lower baffle (36) is driven by the lifting cylinder (35) to ascend to shield the lower edge of the label suction plate (33) or descend to expose the lower edge of the label suction plate (33).

3. The system of claim 2, wherein: the label conveying device (3) further comprises a left baffle (37), the left baffle (37) is arranged in a slope manner, the lower end of the left baffle (37) is fixed with the lower baffle (36), and the side face of the left baffle is arranged along the side wall of the label suction plate (33); the left baffle (37) is driven by the lower baffle (36) to ascend to shield the left side of the label suction plate (33) or descend to expose the left side of the label suction plate (33).

4. The system of claim 3, wherein: label conveyor (3) still include right baffle (38), right cylinder (39) level is fixed on workstation (1), right baffle (38) are fixed the left end of right cylinder (39), the setting height of right baffle (38) with label suction disc (33) correspond, right cylinder (39) drive right baffle (38) support and lean on the right wall of label suction disc (33).

5. The system of claim 1, wherein: the label conveying device (3) further comprises a photoelectric sensor (310), an upper mounting groove (33d) is formed in the front face of the label suction plate (33), the photoelectric sensor (310) is mounted in the upper mounting groove (33d), the opening position of the upper mounting groove (33d) is higher than that of the air hole (33b), and the photoelectric sensor (310) is in signal correlation with the vacuum generator (33 c).

6. The system of claim 5, wherein: the outer surface of the photoelectric sensor (310) is flush with the front surface of the label suction plate (33), and the photoelectric sensor (310) is arranged along the inner wall of the upper mounting groove (33d) in a sealing mode.

7. The system of claim 5, wherein: still seted up installation through-hole (33e) on label suction disc (33), installation through-hole (33e) side intercommunication go up mounting groove (33 d).

8. The system of claim 1, wherein: the setting gradient of the label suction plate (33) is 38-48 degrees.

9. The system of claim 1, wherein: the horizontal cylinder (31) adopts a transplanting cylinder.

10. The system of claim 1, wherein: dephosphorization labeling device (5) is including installation frame (51), labeling mechanism (52), dephosphorization mechanism (53), mounting flange (54), installation frame (51) is hollow structure, and both ends are installed respectively labeling mechanism (52), dephosphorization mechanism (53) about it, mounting flange (54) one end is fixed on the outer wall of installation frame (51), the other end is connected robot (4).

11. The system of claim 10, wherein: dephosphorization labeling device (5) still includes laser displacement sensor (55), laser displacement sensor (55) are fixed on the outer wall of installation frame (51), and towards square billet terminal surface.

12. The system of claim 11, wherein: the dephosphorization labeling device (5) further comprises a rechecking code scanner (56), wherein the rechecking code scanner (56) is fixed on the outer wall of the installation frame (51) and faces the end face of the square billet.

13. The system of claim 12, wherein: the rechecking code scanner (56) and the labeling mechanism (52) are arranged in the same direction, and the laser displacement sensor (55) and the dephosphorization mechanism (53) are arranged in the same direction.

14. The system of claim 12, wherein: dephosphorization pastes mark device (5) still including fixing safety cover (57) on installation frame (51) outer wall, laser displacement sensor (55), recheck bar code scanner (56) are located in safety cover (57), the both ends of safety cover (57) be provided with respectively with the transparent window of laser displacement sensor (55), recheck bar code scanner (56) counterpoint.

15. The system of claim 10, wherein: dephosphorization mechanism (53) include pneumatic motor (53a), bearing frame (53b), bearing (53c), brush head (53d), bearing frame (53b) with installation frame (51) float and connect, bearing (53c) are sealed to be fixed in bearing frame (53b), pneumatic motor (53a) unsettled set up in installation frame (51), the output shaft of pneumatic motor (53a) passes installation frame (51), bearing frame (53b), bearing (53c) are outwards stretched out, brush head (53d) cover is established on the tip of output shaft.

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