KR20040041898A - The label Gripper of automatic label sticking equipment - Google Patents

The label Gripper of automatic label sticking equipment Download PDF

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Publication number
KR20040041898A
KR20040041898A KR1020020069999A KR20020069999A KR20040041898A KR 20040041898 A KR20040041898 A KR 20040041898A KR 1020020069999 A KR1020020069999 A KR 1020020069999A KR 20020069999 A KR20020069999 A KR 20020069999A KR 20040041898 A KR20040041898 A KR 20040041898A
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KR
South Korea
Prior art keywords
label
gripper
pad
hot rolled
rolled coil
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KR1020020069999A
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Korean (ko)
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KR100467273B1 (en
Inventor
이승영
이권재
정병수
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(주)오토엔
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Priority to KR10-2002-0069999A priority Critical patent/KR100467273B1/en
Publication of KR20040041898A publication Critical patent/KR20040041898A/en
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Publication of KR100467273B1 publication Critical patent/KR100467273B1/en

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Classifications

    • 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
    • B65C9/12—Removing separate labels from stacks
    • B65C9/14—Removing separate labels from stacks by vacuum
    • 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

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  • Labeling Devices (AREA)

Abstract

PURPOSE: A label gripper of an automatic label sticking apparatus is provided to mount the label to the hot rolled coil accurately and firmly by integrally forming the surface of the flexible pad with the internal shape of the coil in absorbing and sticking the label with vacuum suction. CONSTITUTION: A label printed in a label printer is supplied to a label gripper by a label feeder, and stuck to the inside of the hot rolled coil by the label gripper with vacuum suction. The label gripper is mounted in a three-axis of a cartesian-coordinate robot and rotated by a servo motor(10). A pad(15) is reciprocated linearly by an air cylinder(14) in the end of the label gripper to suck the label, and filled with porous filler. Plural vacuum suction nozzles are formed in the flexible surface of the cylindrical pad to suck air. A contact sensor(17) preventing collision and a displacement sensor(16) identifying the edge of the hot rolled coil are installed in the end of the label gripper.

Description

라벨자동부착장치의 라벨그립퍼{The label Gripper of automatic label sticking equipment}The label gripper of automatic label sticking equipment

본 발명은 제철소의 압연기에서 압연 후 롤상으로 권취된 열연코일에 라벨을 부착하는 장치중 라벨그립퍼(Label Gripper)에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a label gripper in an apparatus for attaching a label to a hot rolled coil wound in a roll after rolling in a mill in a steel mill.

이를 좀더 상세히 설명하면, 열연코일은 압연 후 롤상으로 권취된 후에도 상당한 온도로 적열된 상태임으로 수작업으로 라벨을 부착하는 것은 작업자의 안전에 상당한 위험이 따를뿐 아니라 코일정보와 라벨이 바뀔 수 있음을 방지하기 위하여 자동화된 라벨부착장치를 사용하여 라벨을 부착하고 있으며, 라벨부착장치는 라벨을 공급하는 라벨피더와 라벨을 부착하는 라벨그립퍼로 구성되어 있다.To explain this in more detail, hot rolled coils are heated to a significant temperature even after being rolled up and rolled up, so that manual labeling poses a significant risk to the operator's safety and prevents coil information and labels from changing. In order to apply the label using an automated labeling device, the labeling device is composed of a label feeder for supplying the label and a label gripper for attaching the label.

종래 열연코일에 라벨을 부착하는 라벨그립퍼는 다수의 흡입공이 천공된 평편한 흡착패드에 라벨을 진공흡착하고 라벨부착위치로 이동한 후 흡착공에서 에어를 분출시켜 부착위치에 안치시킨 후 가압롤러를 이용하여 열연코일 내부공간의 곡면 부위에 부착케하는 구성이 공지되어 있었다.The label gripper for attaching a label to a hot rolled coil has vacuum-adsorbed the label on a flat suction pad having a plurality of suction holes, moves to the label attachment position, ejects air from the adsorption hole, and places the pressure roller in the attachment position. It has been known to attach to the curved portion of the hot rolled coil internal space by using.

그러나 위와 같은 구성은 그 구성이 복잡하여 흡착패드와 가압롤러간의 상호제어나 유지보수에 어려움이 있었다.However, the above configuration has a complicated configuration, which makes it difficult to mutually control or maintain the suction pad and the pressure roller.

본 발명은 상기와 같은 문제점을 해소할 수 있는 곡면부위에 라벨을 효과적으로 부착하는 수단을 제공하는 것을 목적으로 한다.An object of the present invention is to provide a means for effectively attaching a label to a curved portion that can solve the above problems.

상기 목적을 달성하기 위하여 본 발명은 라벨피더에 의하여 공급된 라벨을그립퍼에 흡착하는 수단과 흡착된 라벨을 곡면상에 견고히 부착할 수 있는 수단 및 부착위치를 확인할 수 있는 센서를 포함한다.In order to achieve the above object, the present invention includes a means for adsorbing the label supplied by the label feeder to the gripper, a means for firmly attaching the adsorbed label on the curved surface, and a sensor for identifying the attachment position.

도 1은 라벨자동부착장치의 사시도1 is a perspective view of a label automatic attachment device

도 2는 본 발명 라벨그립퍼의 정면도Figure 2 is a front view of the label gripper of the present invention

도 3은 본 발명 라벨그립퍼의 측면도Figure 3 is a side view of the label gripper of the present invention

도 4는 본 발명 흡착패드의 정면도Figure 4 is a front view of the adsorption pad of the present invention

도 5는 본 발명 흡착패드의 측면도Figure 5 is a side view of the adsorption pad of the present invention

※ 도면의 주요부분에 대한 부호의 설명※ Explanation of code for main part of drawing

1. 라벨프린터 2. 라벨피더1. Label printer 2. Label feeder

3. 라벨그립퍼 10. 서보모터3. Label Gripper 10. Servo Motor

11. 타이밍벨트 12. 타이밍풀리11. Timing belt 12. Timing pulley

13. 그립퍼해드 14. 에어실린더13. Gripper head 14. Air cylinder

15. 패드 16. 변위센서15. Pad 16. Displacement sensor

17. 접촉센서 18. 접촉센서브라켓17. Contact sensor 18. Contact sensor bracket

19. 다공성 충진재 20. 실리콘러버19. Porous Filler 20. Silicone Rubber

21. 노즐 22. 후렉시블호스21.Nozzle 22.Flexible Hose

본 발명을 첨부한 도면을 참조하여 설명하면 다음과 같다.The present invention will be described below with reference to the accompanying drawings.

먼저 라벨자동부착장치의 전체구성에 관하여 설명하기로 한다.First, the overall configuration of the label automatic attaching device will be described.

도 1은 라벨자동부착장치의 사시도로서 열연코일을 생산하는 압연기는 수시로 제품의 규격을 변경할 수 있으므로 변경되는 제품의 사양에 맞는 라벨을 공급하기 위하여 라벨자동부착장치에는 라벨프린터(1)가 구비되어 있으며 라벨프린터(1)에서 인쇄된 라벨은 라벨피더(2)에 의하여 간헐적으로 라벨그립퍼(3)에 공급되고 라벨그립퍼는(3) 진공흡착방식으로 라벨을 흡착하여 열연코일의 롤 내부공간에 부착하는 것으로 하나의 작업 싸이클을 완료한다.Figure 1 is a perspective view of the automatic labeling device is a rolling mill for producing a hot rolled coil can change the specification of the product from time to time, the label automatic attachment device is provided with a label printer (1) to supply a label that meets the specifications of the product to be changed The label printed by the label printer (1) is intermittently supplied to the label gripper (3) by the label feeder (2), and the label gripper (3) adsorbs the label by vacuum adsorption and attaches it to the roll inner space of the hot rolled coil. This completes one work cycle.

도 2 또는 도 4 및 도 5는 본 발명 라벨그립퍼(3)의 상세도로서 그 구성에 대하여 설명하기로 한다.2 or 4 and 5 will be described in detail the configuration of the label gripper 3 of the present invention.

라벨그립퍼는 직교좌표형 로버트암의 선단에 부착되고 로버트의 제어에 의하여 직선 및 회전동작이 가능하다.The label gripper is attached to the tip of the Cartesian coordinate arm and the linear and rotational operation is possible by the control of the Robert.

로버트의 3축에 해당되는 부위에 서보모터(10)가 장착되고 타이밍풀리(12)와 타이밍벨트(11)에 의하여 그립퍼해드(13)는 회전이 가능하다.The servo motor 10 is mounted at a portion corresponding to the three axes of the Robert, and the gripper head 13 is rotatable by the timing pulley 12 and the timing belt 11.

그립퍼해드(13)에는 본 실시예에서는 90° 간격으로 패드(15)가 2개 부착되나 부착되는 패드의 수량은 제한되지 아니한다.In the present embodiment, two pads 15 are attached to the gripper head 13 at intervals of 90 °, but the number of pads to be attached is not limited.

패드(15)는 그립퍼해드(13)내에 구비된 에어실린더(14)에 의하여 직선왕복운동이 가능하며 에어실린더(14)는 패드(15)의 왕복 운동시에 기울어짐을 방지하기 위하여 2개를 한쌍으로 구비하고 연동시키는 것이 바람직하다.The pad 15 may be linearly reciprocated by an air cylinder 14 provided in the gripper head 13, and the air cylinders 14 may be paired in two to prevent the pad 15 from tilting during the reciprocating motion of the pad 15. It is preferable to equip and to interlock.

그립퍼해드(13)부의 선단에는 접촉센서브라켓(18)에 의하여 링형상으로된 접촉센서(17)와 그립퍼해드(13) 자체에 변위센서(16)가 구비된다.At the distal end of the gripper head 13, a displacement sensor 16 is provided on the contact sensor 17 which is ring-shaped by the contact sensor bracket 18 and the gripper head 13 itself.

에어실린더(14)의 선단에는 라벨을 그립핑하는 패드(15)가 구비된다.At the tip of the air cylinder 14, a pad 15 for gripping a label is provided.

패드(15)는 반원통형상으로 구성되고 재질은 실리콘러버이다.The pad 15 has a semi-cylindrical shape and is made of silicon rubber.

실리콘러버는 유연성이 높아 외력을 가했을 때 변형이 용이하며 또한 내열성이 높아 본 발명 패드(15)의 재질로 적합하나 내열성과 유연성을 겸비한 재료라면 특별히 제한되지는 않는다.The silicone rubber is highly flexible and easily deformed when an external force is applied, and heat resistance is high, but the silicone rubber is not particularly limited as long as it is a material having heat resistance and flexibility.

패드(15)의 표면에는 진공흡착을 위한 다수개의 흡입노즐(21) 구멍이 천공되며 흡입노즐은 후렉시블호스(22)에 의하여 공기흡입배관과 연결된다.On the surface of the pad 15, a plurality of holes of the suction nozzle 21 for vacuum suction are drilled, and the suction nozzle is connected to the air suction pipe by the flexible hose 22.

패드(15)의 내부에는 유연하고 신축성이 있는 다공성 충진재(19)가 채워진다.The pad 15 is filled with a flexible and flexible porous filler 19.

상기한 바와 같이 구성된 본 발명 라벨그립퍼(3)의 작용에 관하여 설명하면 다음과 같다.Referring to the operation of the label gripper 3 of the present invention configured as described above is as follows.

본 발명 라벨그립퍼(3)의 작동은 직교좌표형 로버트의 3축에 해당하는 암의 선단에 서보모터(10)에 의하여 구동하는 그립퍼해드(13)가 회전자재하게 설치되고 라벨피더(2)에 의하여 라벨이 그립핑될 수 있는 위치에 도착하면 패드(15)는 에어실린더(14)의 작동으로 하강하여 라벨과 접촉한다.The operation of the label gripper (3) of the present invention is a gripper head (13) driven by a servo motor (10) is rotatably installed at the tip of an arm corresponding to three axes of the Cartesian coordinate type Robert, and is attached to the label feeder (2). When the label arrives at a position where the label can be gripped, the pad 15 is lowered by the operation of the air cylinder 14 to contact the label.

라벨과 접촉시 패드의 표면은 유연성이 있는 재질이므로 변형하여 라벨표면과 밀착하고 패드 표면에 천공된 노즐(21)을 통하여 공기를 흡입하는 진공흡착방식으로 패드(15)의 표면에 라벨을 흡착한다.When the pad comes into contact with the label, the surface of the pad is made of a flexible material. Therefore, the pad is deformed to adhere to the label and adsorbed on the surface of the pad 15 in a vacuum adsorption method that sucks air through the nozzle 21 perforated on the pad surface. .

라벨을 흡착한 패드(15)는 에어실린더(14)가 수축함과 동시에 열연코일이 대기하고 있는 위치로 이동한다.The pad 15 on which the label is adsorbed moves to the position where the hot cylinder is at the same time as the air cylinder 14 contracts.

이때 그립퍼해드(13)에 구비된 접촉센서(17)는 그립퍼해드(13)가 열연코일과 충돌하여 손상되는 것을 방지하는 역할을 한다.At this time, the contact sensor 17 provided in the gripper head 13 serves to prevent the gripper head 13 from being damaged by colliding with the hot rolled coil.

그립퍼해드(13)가 열연코일의 내부공간에 진입하면 변위센서(16)가 작동하여 열연코일이 감겨지기 시작한 부분 즉, 엣지부분을 회피할 수 있도록 그립퍼해 드(13)를 선회하고 라벨을 부착하기에 적당한 위치에 이르면 에어실린더(14)가 작동하여 패드(15)는 열연코일과 접촉한다.When the gripper head 13 enters the inner space of the hot rolled coil, the displacement sensor 16 operates to pivot the gripper head 13 and attach the label so as to avoid the portion where the hot rolled coil begins to be wound, that is, the edge portion. When the proper position is reached, the air cylinder 14 is operated so that the pad 15 is in contact with the hot rolled coil.

열연코일과 접촉한 패드(15)는 에어실린더(14)의 작동으로 일정한 압력을 가하면 유연성이 있는 패드(15)의 표면은 변형하여 곡면을 이루는 열연코일의 내부형상과 일체를 이루며 이때 라벨의 이면에 도포된 접착제에 의하여 라벨은 견고히 부착된다.When the pad 15 in contact with the hot rolled coil is applied with a constant pressure by the operation of the air cylinder 14, the surface of the flexible pad 15 is deformed to be integral with the inner shape of the hot rolled coil to form a curved surface. The label is firmly attached by the adhesive applied to the.

라벨 부착 후 그립퍼해드(13)는 대기상태로 되돌아오며 이로서 라벨자동부착장치의 한 싸이클 작동은 완료된다.After labeling, the gripper head 13 returns to the stand-by state, whereby one cycle of the label autoclave is completed.

본 발명은 전술한 바와 같이 간단한 구조로 라벨을 열연코일에 확실하게 부착할 수 있어 설비의 제어가 용이하고 유지보수가 간편한 이점이 있다.The present invention has the advantage that it is possible to reliably attach the label to the hot rolled coil with a simple structure as described above, easy to control the equipment and easy to maintain.

Claims (1)

라벨프린터(1)에서 인쇄된 라벨을 라벨피더(2)로 라벨그립퍼(3)에 공급하고, 라벨그립퍼(3)에서는 진공흡착방식으로 흡착하여 열연코일의 내부공간에 부착하는 장치에 있어서, 라벨그립퍼(3)는 직교좌표형 로버트의 3축에 해당하는 부분에 서보모터(10)에 의하여 회전자재하게 설치되고, 그 선단에는 하나이상의 라벨을 흡착하는 패드가 에어실린더(14)에 의하여 직선왕복운동이 가능하게 구비되며, 패드(15)는 반원통형상의 유연성이 있는 표면을 가지고 그 내부는 다공성 충진재(19)로 충진되며, 패드(15)의 표면에는 공기를 흡입할 수 있는 다수개의 진공 흡입노즐(21)이 구비되며, 라벨그립퍼(3)의 선단에는 충돌을 방지하는 접촉센서(17)와 열연코일의 엣지부분을 식별하는 변위센서(16)가 구비된 것을 특징으로 하는 라벨자동부착장치의 라벨그립퍼.In the device to supply the label printed on the label printer (1) to the label gripper (3) by the label feeder (2), the label gripper (3) is adsorbed by vacuum adsorption method and attached to the internal space of the hot rolled coil, The gripper 3 is rotatably installed by the servo motor 10 at a portion corresponding to three axes of the rectangular coordinate type Robert, and a pad for absorbing one or more labels is linearly reciprocated by the air cylinder 14 at its tip. The pad 15 has a semi-cylindrical flexible surface, the inside of which is filled with a porous filler 19, and a plurality of vacuum suctions capable of sucking air on the surface of the pad 15. Nozzle 21 is provided, the label gripper 3, the label automatic attachment device characterized in that the front end of the contact sensor 17 to prevent the collision and the displacement sensor 16 for identifying the edge of the hot rolled coil is provided Label gripper.
KR10-2002-0069999A 2002-11-12 2002-11-12 The label Gripper of automatic label sticking equipment KR100467273B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR10-2002-0069999A KR100467273B1 (en) 2002-11-12 2002-11-12 The label Gripper of automatic label sticking equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR10-2002-0069999A KR100467273B1 (en) 2002-11-12 2002-11-12 The label Gripper of automatic label sticking equipment

Publications (2)

Publication Number Publication Date
KR20040041898A true KR20040041898A (en) 2004-05-20
KR100467273B1 KR100467273B1 (en) 2005-01-24

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Cited By (4)

* Cited by examiner, † Cited by third party
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WO2015076437A1 (en) * 2013-11-22 2015-05-28 이길남 Automatically attached label, and manufacturing method therefor
CN107443397A (en) * 2017-09-05 2017-12-08 佛山市南海区广工大数控装备协同创新研究院 One kind is based on pcb board robot production line labeling manipulator
CN108820420A (en) * 2018-08-10 2018-11-16 无锡铭方科技有限公司 A kind of label automatic gummer structure
CN110065694A (en) * 2019-05-10 2019-07-30 安徽精菱玻璃机械有限公司 A kind of automatic labeling mechanism for glass cutting machine

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JPS6169534A (en) * 1984-09-11 1986-04-10 株式会社　サト− Labelling robot
JP3023573B2 (en) * 1991-11-29 2000-03-21 新日本製鐵株式会社 Label sticking device
US6230779B1 (en) * 1998-03-23 2001-05-15 Fmc Corporation Labeling apparatus with enhanced bellows and associated method
KR19980025316A (en) * 1998-04-06 1998-07-06 이부근 Hot Coil Labeling Machine

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015076437A1 (en) * 2013-11-22 2015-05-28 이길남 Automatically attached label, and manufacturing method therefor
CN107443397A (en) * 2017-09-05 2017-12-08 佛山市南海区广工大数控装备协同创新研究院 One kind is based on pcb board robot production line labeling manipulator
CN107443397B (en) * 2017-09-05 2023-08-25 佛山市南海区广工大数控装备协同创新研究院 Labeling manipulator based on PCB (printed circuit board) robot production line
CN108820420A (en) * 2018-08-10 2018-11-16 无锡铭方科技有限公司 A kind of label automatic gummer structure
CN110065694A (en) * 2019-05-10 2019-07-30 安徽精菱玻璃机械有限公司 A kind of automatic labeling mechanism for glass cutting machine

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