| The Round steel is a common metal raw material in the steel industry and has a wide range of industrial applications.In the production of the round steel,labelling labels with production information on the end of round steel is an essential step.At present,manual labelling is not only inefficient,but also prefer to the occurrence of tag fold and failure to guarantee the firmness of label sticking in the process of labelling.Aiming at the working environment of the labelling of round steel,the establishment of a robot system using machine vision instead of human eyes and industrial robot instead of manual labeling of the round steel end labelling is the key to ensure the firmness,accuracy and efficiency of the labelling,which has strong significance.The paper is in view of the problems of the existing labelling technology with folded labels and weak adhesion,combined with the production requirements of the existing labelling technology,The vacuum element is used to construct the real air path of the label with negative pressure adsorption labels and positive pressure compaction labels,aiming at the problem that the existing vacuum sucker can not meet the requirements of labeling,meanwhile,using finite element simulation technology of vacuum,and the key parameters in vacuum,such as pipe diameters,the circular array of hole size,hole numbers and hole distance has been optimized,finally the vacuum can guarantee no fold in label drawing process;In combination with the labels leakage phenomenon and poor working environment in labelling,the machine vision unit of the robot system of the round steel end labelling is built,using industrial camera to identify and locate the round steel and labels,and to judge the missing labels and to improve the accuracy of the labelling;Establishing the real-time communication with the UR5 industrial robot,analyzing real-time data packets feedback from the robot,and realized the industrial robot safety warning under extreme working conditions;Establishing the connection with the steel plant production information database,and extract the key information,to realize the automatic printing of labels,The robot system of binding round steel end labeling was built,and the whole system has verified by experiment and demonstrated in the steel plant.The special end operating appliance designed for the robot has the function of elastic compaction with certain stroke,which can adapt to the unevenness of the end surface of the baled round steel and ensure the firmness.The missing label detection of round steel end label and the safety warning under the extreme conditions of the industrial robotsensure the accuracy of the labelling,improve the production efficiency and economic efficiency,and also lay a solid foundation for the demonstration application of the robot system of round steel end label.The system was tested on the spot of the steel plant and the robot safety warning was set under extreme working conditions.The feasibility of the system was verified and the technical requirements for the steel plant were met. |
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