| 摘要 |
PURPOSE:To execute automatically and exactly a marking even in a wide temperature range by measuring a surface temperature of a hot coil, making an industrial robot select a heat resistant chalk suitable for its temperature, and also making it execute a marking. CONSTITUTION:A coil 8 wound by a winder 1 is carried, and before a marking is executed, its temperature is measured by a surface thermometer 2. Its information is inputted to a control device 3 of a robot 4, and by its command, one of chalks 6-1-6-3 suitable for a surface temperature of the coil is held by a robot hand 5 from a heat resistant chalk group 6 whose each coordinate is determined in advance. In this state, when the coil comes to the marking position and stops, a marking is executed by the hand 5 in the coil axial direction of the outside circumferential surface of the coil by an instruction inputted to the device 3 from a production process managing computer 7. A consumption degree of the chalk is checked by a distance sensor 9 of the hand 5, and if it exceeds the limit, the chalk is replaced. |
