Automatic robotic tagging of rebar bundles
A 3D camera on the robot wrist scans the end face of the bundle; the bar ends are located one by one and an end whose depth is within tolerance is chosen as the tag point. The robot fixes the tag there, then the same camera reads the tag code back and compares it with the bundle record.
The selected end and depth become the robot target; after tagging, the code is verified on the display. The tower signals the unsuitable candidate and the completed tagging decision at separate times.
- 01 Bundle in
- 02 3D scan
- 03 Pick point
- 04 Tagging
- 05 Read-back
The bundle arrives on the roller line and stops at the tagging position.
- Ends found
- —
- End depth
- —
- Tag code
- —
Scenes are illustrative simulations; they are not customer references or performance guarantees.
Need
Bar ends in a bundle are not coplanar; a recessed end cannot serve as a tagging point. The depth of the robot target and the identity of the applied tag require separate checks.
Solution approach
The wrist vision tool sweeps a laser line across the end face to locate centres and relative depths in a point cloud. An out-of-tolerance candidate is skipped and a magazine tag is applied to a suitable end. Code and text receive separate read-back regions; the display shows depth selection and identity verification.
Process steps
- 01
Bundle in
The bundle arrives on the roller line and stops at the tagging position.
- 02
3D scan
A laser line sweeps the end face and builds a point cloud of the bar ends.
- 03
Pick point
The depth of each end is measured; an end within tolerance becomes the tag point.
- 04
Tagging
The robot fixes the tag taken from the magazine onto the chosen bar end.
- 05
Read-back
The wrist camera reads the code and text of the tag just applied.
Related applications
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