CN221113263U - Code spraying system for robot steel coil - Google Patents
Code spraying system for robot steel coil Download PDFInfo
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- CN221113263U CN221113263U CN202322229605.5U CN202322229605U CN221113263U CN 221113263 U CN221113263 U CN 221113263U CN 202322229605 U CN202322229605 U CN 202322229605U CN 221113263 U CN221113263 U CN 221113263U
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- 238000005507 spraying Methods 0.000 title claims abstract description 95
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 55
- 239000010959 steel Substances 0.000 title claims abstract description 55
- 239000000523 sample Substances 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 239000003973 paint Substances 0.000 abstract description 9
- 238000003860 storage Methods 0.000 abstract description 5
- 210000000707 wrist Anatomy 0.000 abstract description 4
- 238000012856 packing Methods 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model relates to a robot steel coil code spraying system, which belongs to the technical field of industrial robot application and comprises a robot, a robot control cabinet, a spraying unit, a radial laser range finder, an on-site operation box, a main control system and a PLC. The robot is a main executing mechanism of the system; the robot control cabinet is a control system of the robot; the spraying unit comprises a spraying box and a spraying cabinet, wherein the spraying box is arranged on the wrist of the robot and is a code spraying mechanism, and the spraying cabinet is a storage and output mechanism of paint; the radial laser range finders are arranged at two sides of the steel coil conveying path and are used for measuring the diameter of the steel coil; the on-site operation box is used for an operator to operate the system on a working site; the main control system is a control system operated manually; the PLC is a control system for automatically operating the system. The system has the characteristics of high code spraying efficiency, high quality, high accuracy and high operation reliability, and can protect the health of operators and reduce the burden.
Description
Technical Field
The utility model belongs to the technical field of industrial robot application, and particularly relates to a full-automatic self-adaptive steel coil code spraying system for a robot.
Background
At present, in a steel rolling workshop of a metallurgical factory, before a finished steel coil is put in storage, code spraying is needed, and information for identifying the steel coil is used for storage record and quality tracing. The coil information generally includes date, furnace number, team, specification, steel, etc. The code spraying work is generally completed manually, a worker holds the spray gun, codes are sprayed at a place very close to the steel coil, the form has low labor efficiency, poor code spraying effect and high code error rate, and the labor is heavy and the paint has great harm to the health of the worker. The application of the robot steel coil code spraying system solves the problems, and the system uses a 6-axis industrial robot to carry an automatic spray gun to replace workers to complete work.
Disclosure of utility model
The utility model provides a robot steel coil code spraying system, which aims to realize the purposes of high code spraying efficiency, high code spraying quality, high code spraying accuracy, high operation reliability and health protection of workers of a robot due to the defects of high error rate and great harm to the health of workers of the currently used manual code spraying.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: a robot coil of strip spouts a yard system which characterized in that: the system comprises a robot, a robot control cabinet, a spraying unit, a radial laser range finder, an on-site operation box, a main control system and a PLC. The robot is a main executing mechanism of the system and is driven by signals sent by a robot control cabinet; the robot control cabinet is a control system of the robot and is used for transmitting signals sent by the PLC to the robot; the spraying unit comprises a spraying box and a spraying cabinet, wherein the spraying box is a code spraying mechanism of the system, is arranged on a wrist flange of the robot and is used as a tool for code spraying operation of the robot; the spraying cabinet is a storage and output mechanism of the paint, and can control parameters such as pressure, flow and the like of paint output; the radial laser range finders are arranged on two sides of the steel coil conveying path and are used for measuring the diameter of the steel coil and sending measurement signals to the PLC; the on-site operation box is used for an operator to operate the system on a working site; the main control system is a control system operated manually; the PLC is a control system for automatically running the system, and is used as an information integration and control center of the system, and all devices are uniformly allocated through built-in programs.
Further, the spray coating cartridge includes: probe, shower nozzle and location laser range finder. The main body part of the probe is arranged in the spraying box, the detection part extends out of the spraying box and is used for measuring the thickness of the steel coil and the specific position of the spraying position of the steel coil stopping on the roller way, and sending a measuring signal to the PLC; the spray head is arranged in the spraying box and is used for spraying paint; the positioning laser range finder is arranged in the spraying box and is used for measuring the thickness of the steel coil and the specific position of the spraying position of the steel coil on the roller way, and sending a measuring signal to the PLC.
Further, the probe and the positioning laser range finder are mutually backup redundant measurement systems.
Further, the master control system includes: and the upper computer control system and the communication system. The upper computer control system is used for manually sending an instruction to the system by an operator, inputting character information to be sprayed and controlling the operation of the system; the communication system is used for accessing a production control system of a steel mill to acquire the required code spraying character information, and an operator does not need to manually input the code spraying character information on an interface of the upper computer control system. Two ways of obtaining the code spraying character information are selected in actual production.
Further, the code spraying information which can be collected by the system comprises: and generating a summary table on an operation interface of the upper computer control system.
Further, the signal interaction and instruction transmission between the components of the system are transmitted through signal cables connected to each other.
Further, the operation modes of the system include: full-automatic operation mode and semi-automatic operation mode. The semiautomatic operation mode is used as a redundancy replacement of the full-automatic operation mode, and when the system cannot operate fully automatically or needs to be manually interposed, an operator can manually send an instruction to the system through an on-site operation box or a main control system.
Further, the steel coil code spraying position which can be realized by the system comprises: end face, periphery.
The beneficial effects of the utility model are as follows: the full-automatic operation of the industrial robot steel coil code spraying can be realized, the code spraying position is adaptively adjusted by the robot according to the steel coil position and the steel coil diameter, the manual intervention is not needed, the working strength of operators is greatly reduced, the manpower investment is reduced in the severe environment of the steel rolling production line, the health of the operators is protected, and the shortage pressure of the steel mill personnel is relieved.
Drawings
The utility model is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of a platform arrangement according to an embodiment of the present utility model.
FIG. 2 is a top view of a platform arrangement of an embodiment of the present utility model.
Fig. 3 is a schematic view showing an operating state of the painting box according to the embodiment of the present utility model.
Fig. 4 is a schematic view showing the composition of a spray coating cartridge according to an embodiment of the present utility model.
Fig. 5 is a schematic view of a steel coil according to an embodiment of the present utility model.
In the figure:
1. Robot, robot control cabinet, roller table, baling press, spraying unit, radial laser rangefinder, 7.
The system comprises a main control system, a PLC (programmable logic controller), a steel coil, a packing belt, an in-situ operation box, a spraying cabinet and 5011, wherein the main control system is 8, the steel coil is 9, the packing belt is 11, the in-situ operation box is 501, and the spraying cabinet is 502.
Probe 5012, spray head 5013, positioning laser range finder.
Detailed Description
The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.
As shown in fig. 1 and 2, the system comprises a robot 1, a robot control cabinet 2, a spraying unit 5, a radial laser range finder 6, an on-site operation box 11, a main control system 7 and a PLC 8. The robot 1 is used as an execution mechanism of code spraying operation, is connected with the robot control cabinet 2 through a signal cable and is driven by a signal sent by the robot control cabinet 2. The robot control cabinet 2 is used as a control system of the robot 1, is connected with the PLC 8 through a signal cable and is used for transmitting signals sent by the PLC 8 to the robot 1. The spraying unit 5 comprises a spraying box 501 and a spraying cabinet 502, wherein the spraying box 501 is a code spraying mechanism of the system, is arranged on a wrist flange of the robot 1 and is used as a tool for code spraying operation of the robot 1; the spraying cabinet 502 is a storage and output mechanism of the paint, and can control parameters such as pressure, flow and the like of paint output. The radial laser distance meters 6 are arranged on two sides of the steel coil 9 conveying path and are used for measuring the diameter of the steel coil 9, and the deviation between the center of the steel coil 9 and the central axis of the roller way 3 can be calculated according to the measured values; the radial laser range finder 6 is connected with the PLC 8 through a signal cable and transmits a measurement signal to the PLC 8. The on-site operation case 11 is connected with the PLC 8 through a signal cable, sends an instruction signal of on-site operation to the PLC 8, and transmits the instruction signal to each execution mechanism through the PLC 8 for an operator to operate the robot 1 on a working site, and comprises: code spraying, interruption, standby of the robot 1, power-on, power-off and on-site remote mode switching. The master control system 7 is a control system operated manually, is connected with the PLC 8 through a signal cable, and comprises: the upper computer control system and the communication system; the upper computer control system is used for manual control of the PLC 8, an operator finishes control of each device through an interface of the upper computer control system, and manually sends out instructions to the system, and the system comprises: setting the code spraying character information of the steel coil 9, controlling the code spraying character, displaying data of the steel coil 9, displaying a system state, displaying a code spraying history record, displaying an alarm record, starting and stopping a roller way 3, spraying codes, interrupting, returning the robot 1 to a standby machine position, powering on and powering off, and switching on-site remote modes; the communication system is used for accessing a production control system of a steel mill to acquire required code-spraying character information, and an operator does not need to manually input the code-spraying character information on an interface of an upper computer control system; two modes of acquiring the code spraying character information are selected in actual production; the code injection character information comprises: day team, steel, furnace number, specification. The PLC 8 is an automatically operated control system, and is used as an information integration and control center of the system, and uniformly distributes all the devices through built-in programs; the PLC 8 is connected with the robot control cabinet 2, the roller table 3, the packer 4, the spraying unit 5, the radial laser range finder 6, the main control system 7 and the on-site operation box 11 through signal cables.
As shown in fig. 3, the painting box 501 is mounted on a sixth wrist flange of the robot 1.
As shown in fig. 4, the spray box 501 serves as a bearing mechanism for the probe 5011, the spray head 5012, and the positioning laser rangefinder 5013. The main body part of the probe 5011 is arranged in the spraying box 501, the detection part extends out of the spraying box 501 and is used for measuring the thickness of the steel coil 9 and the specific position of the steel coil 9 at the spraying position on the roller way 3, the detection part is connected with the PLC 8 through a signal cable and sends a measuring signal to the PLC 8; the spray head 5012 is arranged in the spraying box 501, and the paint is conveyed from the spraying cabinet 502 through a pipeline and is connected with the PLC 8 through a signal cable for controlling the spray head 5012 to spray out the paint; the positioning laser range finder 5013 is installed in the spraying box 501 and is used for measuring the thickness of the steel coil 9 and the specific position of the spraying position of the steel coil 9 stopping on the roller way 3, is connected with the PLC 8 through a signal cable and sends a measuring signal to the PLC 8. The measuring mode of the probe 5011 and the measuring mode of the positioning laser range finder 5013 are mutually backup redundant measuring systems, and one of the two measuring systems is selected when in actual use.
As shown in fig. 5, the packing belt 10 is wound around the steel coil 9, and the packing manner is packing along the circumferential surface, so that if the packing belt 10 is not considered, the situation that a certain row of code spraying is sprayed on the packing belt 10 will occur, which results in unclear code spraying, and the code spraying effect is not up to standard or the code spraying failure results. The system can receive the position of the packing belt 10 sent by the packing machine 4, calculate the proper code spraying row spacing and the row spacing between which two rows need to be increased, and enable the packing belt 10 to be positioned at the position between the rows, thereby avoiding the packing belt 10 to perform code spraying operation.
The working steps of the system comprise:
S1, conveying a steel coil 9 through a packer 4 under the transportation of a roller way 3, and after packing is completed, the packer 4 sends the packing position of a packing belt 10 to a PLC 8;
s2, the steel coil 9 passes through a radial laser distance meter 6 under the transportation of the roller way 3, the radial laser distance meter 6 sends a measurement signal to a PLC 8, and the PLC 8 calculates the diameter of the steel coil 9 and the deviation between the circle center of the steel coil 9 and the central line of the roller way 3;
S3, stopping the steel coil 9 after the steel coil 9 reaches a spraying position under the transportation of the roller way 3, starting measuring operation by the robot 1, and sending a measuring signal to the PLC 8 by the probe 5011 or the positioning laser range finder 5013, wherein the PLC 8 obtains the thickness of the steel coil 9 and the specific position of the steel coil 9 stopping on the roller way 3 through calculation;
S4, the PLC 8 sends the calculated thickness of the steel coil 9, the diameter of the steel coil 9 and the plane coordinates of the steel coil 9 stopped on the roller way 3 to the robot 1, and the robot 1 performs code spraying operation according to the information.
The system can perform code spraying operation on the end face and the circumferential face of the steel coil 9.
In addition to the above-described full-automatic operation mode of the present system, an operator can manually send an operation instruction to the present system through the local operation box 11 or the upper computer control system of the main control system 7.
It should be understood that in the claims and specification of the present utility model, all of "comprising … …", "including … …" should be interpreted as open-ended meaning that it is equivalent to "comprising at least … …", and not as closed-ended meaning that it should not be interpreted to "comprise … … only".
The foregoing description is only illustrative of the present utility model and should not be construed as limiting the scope of the utility model, and all equivalent structures or equivalent flow modifications that may be made using the teachings of the present utility model and the accompanying drawings, or that may be directly or indirectly employed in other related art, are equally included within the scope of the present utility model.
Claims (5)
1. A robot steel coil code spraying system is characterized in that: the system comprises a robot (1), a robot control cabinet (2), a spraying unit (5), a radial laser range finder (6), a main control system (7), a PLC (8) and an on-site operation box (11); the robot (1) is connected with the robot control cabinet (2) through a signal cable; the robot control cabinet (2) is connected with the PLC (8) through a signal cable; the spraying unit (5) is connected with the PLC (8) through a signal cable; the radial laser range finder (6) is connected with the PLC (8) through a signal cable; the main control system (7) is connected with the PLC (8) through a signal cable; the on-site operation box (11) is connected with the PLC (8) through a signal cable.
2. The robotic coil coding system of claim 1, wherein: the spraying unit (5) comprises a spraying box (501) and a spraying cabinet (502); the spraying box (501) is mounted on the robot (1).
3. The robotic coil coding system of claim 2, wherein: the spraying box (501) comprises a probe (5011), a spray head (5012) and a positioning laser range finder (5013); the main body part of the probe (5011) is arranged in the spraying box (501), the detection part extends out of the spraying box (501), and the probe (5011) is connected with the PLC (8) through a signal cable; the spray head (5012) is arranged in the spraying box (501) and is connected with the PLC (8) through a signal cable; the positioning laser range finder (5013) is installed in the spraying box (501) and is connected with the PLC (8) through a signal cable.
4. A robotic coil coding system according to claim 3, wherein: the probe (5011) and the positioning laser range finder (5013) have the same function and are mutually backup redundant measurement systems.
5. The robotic coil coding system of claim 1, wherein: the position of the system for carrying out code spraying operation comprises: the end face and the circumferential face of the steel coil (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322229605.5U CN221113263U (en) | 2023-08-18 | 2023-08-18 | Code spraying system for robot steel coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322229605.5U CN221113263U (en) | 2023-08-18 | 2023-08-18 | Code spraying system for robot steel coil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221113263U true CN221113263U (en) | 2024-06-11 |
Family
ID=91345450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322229605.5U Active CN221113263U (en) | 2023-08-18 | 2023-08-18 | Code spraying system for robot steel coil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221113263U (en) |
-
2023
- 2023-08-18 CN CN202322229605.5U patent/CN221113263U/en active Active
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| GR01 | Patent grant |