AU2021103278A4 - Label soldering system for bar bundle based on machine vision - Google Patents
Label soldering system for bar bundle based on machine vision Download PDFInfo
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- AU2021103278A4 AU2021103278A4 AU2021103278A AU2021103278A AU2021103278A4 AU 2021103278 A4 AU2021103278 A4 AU 2021103278A4 AU 2021103278 A AU2021103278 A AU 2021103278A AU 2021103278 A AU2021103278 A AU 2021103278A AU 2021103278 A4 AU2021103278 A4 AU 2021103278A4
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- 238000005476 soldering Methods 0.000 title claims abstract description 246
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- 229910000679 solder Inorganic materials 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 24
- 238000012790 confirmation Methods 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 20
- 230000004044 response Effects 0.000 claims description 9
- 238000002360 preparation method Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000009897 systematic effect Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/0008—Soldering, e.g. brazing, or unsoldering specially adapted for particular articles or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39391—Visual servoing, track end effector with camera image feedback
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39397—Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40609—Camera to monitor end effector as well as object to be handled
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40611—Camera to monitor endpoint, end effector position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40623—Track position of end effector by laser beam
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Connection Of Electric Components To Printed Circuits (AREA)
Abstract
OF THE DISCLOSURE
This disclosure relates to a label soldering system for a bar bundle based on machine vision,
including: a data acquisition module, configured to acquire bar information of bar bundle to be
soldered with a label in real time; a label printer, configured to print the bar information on the label;
a vision acquisition module, configured to obtain end surface data information; a host computer,
configured to generate a nail feeding instruction and a label feeding instruction, and determine a
soldering position according to the end surface data information; a controller, configured to
generate a control signal corresponding to the nail feeding instruction and a control signal
corresponding to the label feeding instruction; a label queuing mechanism, configured to queue
printed labels in sequence and transmit the printed labels to a label output port; a soldering nail
queuing mechanism, configured to queue a plurality of soldering nails in sequence and transmit the
soldering nails to a soldering nail output port; and a robot, configured to solder according to the
soldering position after obtaining the labels and the soldering nails. This disclosure can prevent the
phenomenon of sticking wrong labels, reduces manual input and potential safety trouble by
automatically feeding nails and labels, realizes accurate positioning, delivers beautiful and neat
soldering effect and is not easy to fall off, and improves production efficiency.
-2/2
Start
Feed a nail and feed a label
Search a bar and acquire an image
Process the image and perform vision
positioning
A robot fetches a nail and a label
The robot reaches the position
oes a soldering No
ailtouch the bar?
IYes
Trigger a soldering gun
|Reset
: End
FIG. 3
Description
-2/2 Start
Feed a nail and feed a label
Search a bar and acquire an image
Process the image and perform vision positioning
A robot fetches a nail and a label
The robot reaches the position
oes a soldering No ailtouch the bar?
IYes
Trigger a soldering gun
|Reset
: End FIG. 3
[01] The present disclosure relates to the field of automatic control, and in particular to a label soldering system for a bar bundle based on machine vision.
[02] At present, the label of a bar bundle is mainly soldered manually. In this case, a solderer holds a soldering gun, places soldering nails at the end of the soldering gun, punches the soldering nails through a hole of a label, and independently finds a bar with a good end surface in the bar bundle. Then, the solderer tightly presses the soldering nails on the end surface of the bar, and pulls a trigger to complete the soldering operation.
[03] During manual label soldering, the solderer needs to wear protective clothes and a protective mask to avoid injury caused by electric sparks and dazzling white light. With the improvement of national economy, people expect to be engaged in occupation with amicable environment, low labor intensity, and creativity. The solderer usually works in a poor environment, and the job has high labor intensity and is mechanical and boring. Therefore, many people do not want to do soldering work, and many solderers give up their soldering job. As a result, there appears a shortage of solderers, which further affects the efficiency of label soldering.
[04] Based on what described above, the problem of low efficiency of manual soldering still exists in the prior art.
[05] I. The technical problem to be solved
[06] In view of the above-mentioned problem in the prior art, the present disclosure provides a label soldering system for a bar bundle based on machine vision to solve the problem of low efficiency in manual soldering of labels in the prior art.
[07] II. Technical solution
[08] To achieve the above objectives, the present disclosure adopts the following technical solution:
[09] The present disclosure provides a label soldering system for a bar bundle based on machine vision, including: a data acquisition module, a label printer, a vision acquisition module, a host computer, a controller, a label queuing mechanism, a soldering nail queuing mechanism and a six-degrees-of-freedom industrial robot, where
[10] the data acquisition module is configured to acquire bar information of a bar bundle to be soldered with a label in real time by communicating with a factory data center;
[11] the label printer, connected to the data acquisition module, is configured to print the bar information on the label and generate a label print completion instruction;
[12] the vision acquisition module is configured to collect information of an end surface of the bar bundle to obtain end surface data information;
[13] the host computer, connected to the label printer and the vision acquisition module, is configured to receive the label print completion instruction to generate a nail feeding instruction and a label feeding instruction, and determine a soldering position according to the end surface data information;
[14] the controller, connected to the host computer, is configured to generate a control signal corresponding to the nail feeding instruction and a control signal corresponding to the label feeding instruction;
[15] the label queuing mechanism, connected to the label printer and the controller, is configured to queue printed labels in sequence and transmit the printed labels to a label output port according to the control signal corresponding to the label feeding instruction;
[16] the soldering nail queuing mechanism, connected to the controller, is configured to queue a plurality of soldering nails in sequence and transmit the soldering nails to a soldering nail output port according to the control signal corresponding to the nail feeding instruction; and
[17] the six-degrees-of-freedom industrial robot, connected to the host computer, is configured to perform soldering according to the soldering position after obtaining, through a robot arm, a label from the label output port and a soldering nail from the soldering nail output port respectively, to solder the label on the end surface of the bar bundle.
[18] In an embodiment of the present disclosure, the data acquisition module includes:
[19] a communication submodule, configured to obtain processing data of the bars in real time by communicating with the factory data center; and
[20] a processing submodule, configured to divide the processing data according to bundling of the bars to acquire bar information of each bar bundle; where
[21] the bar information includes at least name of processing manufacturer, furnace number, steel number, specifications and implementation standards.
[22] In an embodiment of the present disclosure, the end surface data information includes an end surface image and depth information.
[23] In an embodiment of the present disclosure, the vision acquisition module includes:
[24] a camera, configured to collect end surface images of the bars; and
[25] a laser sensor, configured to collect depth from the end surface images of the bars to the camera.
[26] In an embodiment of the present disclosure, the host computer determining a soldering position according to the end surface data information includes:
[27] identifying end surfaces of the bars according to the end surface images;
[28] determining a pixel point of an optimal soldering position by positioning an end surface of each bar according to the end surfaces of the bars; and
[29] obtaining a three-dimensional coordinate of the soldering position according to the pixel point of the optimal soldering position and the depth information.
[30] In an embodiment of the present disclosure, after receiving the label print completion instruction, the host computer is further configured to:
[31] determine whether to initiate a soldering task according to obtained equipment operating status, if the equipment operating status meets a preset condition, initiate the soldering task and generate a corresponding acquisition instruction such that the vision acquisition module collects the information of the end surface of the bar bundle in response to the received acquisition instruction; and receive confirmation information "camera is in place" after the vision acquisition module moves from an initial position to a preset position of the end surface of the bar bundle; and
[32] generate a photographing instruction according to the confirmation information "camera is in place", send the photographing instruction to the camera, and receive confirmation information "photographed" that is fed back after the camera finishes photographing.
[33] In an embodiment of the present disclosure, the soldering nail queuing mechanism includes:
[34] a feeding vibration plate, configured to queue a plurality of disordered soldering nails in sequence through vibration in response to the nail feeding instruction; and
[35] an air compressor, configured to transmit the soldering nails which are queued in sequence to the soldering nail output port.
[36] In an example, the system further includes:
[37] a soldering gun connected to the controller and the six-degrees-of-freedom industrial robot, where the six-degrees-of-freedom industrial robot carries the soldering gun and moves the soldering gun to the soldering position;
[38] the six-degrees-of-freedom industrial robot includes a robot control system;
[39] the controller feeds back confirmation information "labels are in place" and confirmation information "soldering nails are in place" to the host computer after generating the control signal corresponding to the nail feeding instruction and the control signal corresponding to the label feeding instruction; and
[40] the host computer sends a "soldering preparation" instruction to the robot controller in response to the confirmation information "labels are in place" and the confirmation information "soldering nails are in place", such that the robot controller obtains the soldering nails and the labels in sequence and moves them to the soldering position by controlling the robot arm.
[41] In an embodiment of the present disclosure, the controller includes:
[42] a detection circuit, configured to detect whether the soldering nails are in contact with the bar to generate a detection signal;
[43] when the detection signal is that the soldering nails are in contact with the bar, the controller sends a soldering start signal to the soldering gun, starts soldering, and feeds back information "soldering gun is triggered" to the host computer after the soldering is completed; or
[44] when the detection signal is that the soldering nails are not in contact with the bar, the controller continues to move the soldering nails in a direction close to the end surface of the bar.
[45] In an embodiment of the present disclosure, the detection circuit includes a power supply and a unidirectional on-resistance, if the circuit is on, the generated detection signal is that the soldering nails are in contact with the bar; or if the circuit is not on, the generated detection signal is that the soldering nails are not in contact with the bar.
[46] III. Beneficial effects
[47] The advantages effects of the present disclosure are described in the following. In a label soldering system for a bar bundle based on vision machine provided in the embodiment of the present disclosure, a label is printed after obtaining the bar information of the bar label in real time, and then the printed label is transmitted to a corresponding bar, so that the printed label and the bar may be ensured in a one-to-one correspondence, preventing the occurrence of wrong labeling. In addition, label soldering is completed by performing visual acquisition on the end surface of the bar and fetching nail and label through the host computer and the controller. In the soldering process, the system can reduce manual input and potential safety trouble by automatically feeding nails and labels. Compared with manual soldering, accurate soldering position of the system delivers a more beautiful and neat soldering effect, and what is soldered is not easy to fall off, thereby simplifying the work and improving production efficiency.
[48] FIG. 1 is a composition diagram of a label soldering system for a bar bundle based on machine vision according to an embodiment of the present disclosure;
[49] FIG. 2 is a connection diagram of a label soldering system for a bar bundle based on machine vision according to an embodiment of the present disclosure; and
[50] FIG. 3 is a working flowchart of a label soldering system according to an embodiment of the present disclosure.
[51] To facilitate better understanding of the present disclosure, the present disclosure will be described in detail below in conjunction with the accompanying drawings and through specific examples.
[52] All technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present disclosure. The terms used herein are merely for the purpose of describing specific examples, and is not intended to limit the present disclosure. As used herein, the term "and/or" includes any and all combinations of one or more related items listed.
[53] FIG. 1 is a composition schematic diagram of a label soldering system for a bar bundle based on machine vision according to an embodiment of the present disclosure. As shown in FIG. 1, the system 100 includes a data acquisition module 110, a label printer 120, a vision acquisition module 130, a host computer 140, a controller 150, a label queuing mechanism 160, a soldering nail queuing mechanism 170 and a six-degrees-of-freedom industrial robot 180.
[54] The data acquisition module 110 is configured to acquire bar information of a bar bundle to be soldered with a label in real time by communicating with a factory data center; the label printer 120, connected to the data acquisition module 110, is configured to print the bar information on the label and generate a label print completion instruction; the vision acquisition module 130 is configured to collect information of an end surface of the bar bundle to obtain end surface data information; the host computer 140, connected to the label printer 120 and the vision acquisition module 130, is configured to receive the label print completion instruction to generate a nail feeding instruction and a label feeding instruction, and determine a soldering position according to the end surface data information; the controller 150, connected to the host computer 140, is configured to generate a control signal corresponding to the nail feeding instruction and a control signal corresponding to the label feeding instruction; the label queuing mechanism 160, connected to the label printer 120 and the controller 150, is configured to queue printed labels in sequence and transmit the printed labels to a label output port according to the control signal corresponding to the label feeding instruction; the soldering nail queuing mechanism 170, connected to the controller 150, is configured to queue a plurality of soldering nails in sequence and transmit the soldering nails to a soldering nail output port according to the control signal corresponding to the nail feeding instruction; and the six-degrees-of-freedom industrial robot 180, connected to the host computer 140, is configured to perform soldering according to the soldering position after obtaining, through a robot arm, a label from the label output port and a soldering nail from the soldering nail output port respectively, to solder the label on the end surface of the bar bundle.
[55] The system described above can prevent the phenomenon of sticking wrong labels, reduces manual input and potential safety trouble by automatically feeding nails and labels. Compared with manual soldering, accurate soldering position of the system delivers a more beautiful and neat soldering effect, and what is soldered is not easy to fall off, thereby simplifying the work and improving production efficiency.
[56] Each part of the embodiment shown in FIG. 1 will be described in detail in the following:
[57] FIG. 2 is a connection diagram of a label soldering system for a bar bundle based on machine vision according to an embodiment of the present disclosure. FIG. 2 shows an optional connection relationship. A host computer 201 and a PLC controller 202 are the centers. The host computer 201 communicates with the PLC controller 202, an industrial camera 203, a label printer 204, and a robot controller 205. The robot controller 205 is a part of the robot and the robot also includes a demonstrator 206 and a robot body 207. The controller 201 also communicates with a soldering nail queuing mechanism 208, a label printer 209 and a soldering gun 210.
[58] In an embodiment of the present disclosure, to obtain the information printed on the label in real time, the system needs to be equipped with the data acquisition module 110. When the bar bundle is transmitted from a production line to a soldering platform, a factory data center transmits processing data of the bar to the data acquisition module 110, and the data acquisition module 110 obtains bar information of a bar bundle to be soldered with a label in real time. By adopting the method of obtaining the bar information in real time, the label printer can determine the bar information according to the processing information of the bar, so that labels for the bar information of type A bars may be printed according to the number of bundles of type A bars, thereby avoiding the waste of resources caused by blind printing of labels.
[59] The data acquisition module 110 in FIG. 1 specifically includes a communication submodule, and a processing submodule. The communication submodule is configured to obtain processing data of the bars in real time by communicating with the factory data center. The processing submodule is configured to divide the processing data according to bundling of the bars to acquire bar information of each bar bundle. The bar information includes at least name of processing manufacturer, furnace number, steel number, specifications and implementation standards. In addition to the information that must be printed, information such as weight, and bundle number may also be printed. The data acquisition module 110 and the host computer 120 may be independently disposed or integrated as required.
[60] The processing data obtained by the data acquisition module from the data processing center may be the processing data processed for a batch of orders. But the bar information of each bar bundle needs to be clarified when soldering the label, so that the processing data needs to be segmented and be in a unified format after being obtained. Take the furnace number as an example. For processing data about 100 bundles of bar, these 100 bundles of bar may come from different furnaces, so that the corresponding furnace numbers are different. The corresponding furnace numbers of the 1st bundle to the 15th bundle are No. 1, the corresponding furnace numbers of the 16th bundle to the 75th bundle are No. 2, and the corresponding furnace numbers of the remaining bundles are No. 3. Therefore, when determining the bar information, the furnace numbers need to be adjusted accordingly for the 100 bundles of bar, that is, the furnace numbers in the bar information of the 1st bundle to the 15th bundle are No. 1, the furnace numbers in the bar information of the 16th bundle to the 75th bundle are No. 2, and the furnace numbers of the 76th bundle to the 100th bundle are No. 3.
[61] It should be noted that if steel numbers, specifications are different, corresponding part in the bar information should also be set and adjusted accordingly.
[62] In an embodiment of the present disclosure, in FIG. 1, the label printer 120, connected to the data acquisition module 110, can print a label based on the received bar information, print the label online in real time, generate a label print completion instruction when the printing is completed and upload the instruction to the host computer 140, to inform that the bar is in place and the system may be started to soldering.
[63] It should be noted that the label printer 120 can generate only one label print completion instruction after the first label is printed, and only the printed label need to be transmitted to the label output port after other labels are printed subsequently.
[64] In an embodiment of the present disclosure, to achieve accurate label positioning, the vision acquisition module 130 can be used to collect information of the end surface of the bar bundle, obtain the end surface data information, and perform positioning based on the collected data of the end surface of the bar, where the end surface data information includes an end surface image and depth information.
[65] In an embodiment of the present disclosure, the vision acquisition module 130 in FIG. 1 includes a camera and a laser sensor. The camera (for example, an industrial camera) is configured to collect end surface images of the bars. The laser sensor is configured to collect depth from the end surface images of the bars to the camera.
[66] In an embodiment of the present disclosure, in FIG. 1, the host computer 140, connected to the label printer 120, is configured to receive the label print completion instruction to generate the nail feeding instruction and the label feeding instruction. The host computer 140, further connected to the vision acquisition module 130, is configured to determine the soldering position according to the end surface data information. According to the camera imaging principle and hand-eye calibration knowledge, the soldering position obtained by the host computer 140 obtain is a three-dimensional coordinate.
[67] It should be noted that in the embodiment, after the three-dimensional coordinate of the soldering position is determined, a position of the soldering gun may also be fine-tuned according to the subsequent detection results of the detection circuit to find a suitable soldering position to complete the soldering.
[68] In an embodiment of the present disclosure, after receiving the label print completion instruction, the host computer 140 is further configured to:
[69] determine whether to initiate a soldering task according to obtained equipment operating status, if the equipment operating status meets a preset condition, initiate the soldering task and generate a corresponding acquisition instruction such that the vision acquisition module collects the information of the end surface of the bar bundle in response to the received acquisition instruction; and receive confirmation information "camera is in place" after the vision acquisition module moves from an initial position to a preset position of the end surface of the bar bundle; and
[70] generate a photographing instruction according to the confirmation information "camera is in place", send the photographing instruction to the camera, and receive confirmation information "photographed" that is fed back after the camera finishes photographing.
[71] In an embodiment of the present disclosure, the host computer 140 determining a soldering position according to the end surface data information specifically includes:
[72] Firstly, the end surface of the bar is identified according to the end surface image. Interfered pixels may exist in the collected end surface image, which need to be eliminated to obtain useful information, that is, the end surface of the bar.
[73] Secondly, the end surface of each bar is located according to the end surfaces of the bars to determine the pixel of an optimal soldering position. Since a plurality bars in each bundle are cut and bundled, a bar that is most suitable for soldering label needs to be chosen from bar bundle, and the center position of the chosen bar is the pixel of the optimal soldering position.
[74] Finally, the three-dimensional coordinate of the soldering position is obtained according to the pixel of the optimal soldering position and the depth information. Even if the bar bundle has gone through the process of colliding before being transmitted to the soldering platform, end surfaces may still be uneven during the transmission process. Therefore, it is necessary to collect the depth information to determine the three-dimensional coordinate, such that the soldering position may be more accurately located.
[75] In an embodiment of the present disclosure, the controller 150 in FIG. 1 is connected to the host computer 140, and is configured to generate a control signal corresponding to the nail feeding instruction and a control signal corresponding to the label feeding instruction. For example, the controller 150 may use programmable logic controller (PLC for short). As shown in FIG. 2, the PLC controller 202 is connected to the host computer 201, the soldering nail queuing mechanism 208, the label printer 209 and the soldering gun 210. Specific control process will be described in detail in the following.
[76] In an embodiment of the present disclosure, the label queuing mechanism 160 in FIG. 1 is connected to the label printer 120 and the controller 150, and is configured to queue printed labels in sequence and transmit the printed labels to a label output port according to the control signal corresponding to the label feeding instruction. The label queuing mechanism 160 is composed of a vertical motor and a horizontal motor, and is configured to transmit labels.
[77] In an embodiment of the present disclosure, in FIG. 1, the soldering nail queuing mechanism 170, connected to the controller 150, is configured to queue a plurality of soldering nails in sequence and transmit the soldering nails to a soldering nail output port according to the control signal corresponding to the nail feeding instruction. The soldering nail queuing mechanism 170 includes: a feeding vibration plate and an air compressor. The feeding vibration plate is configured to queue a plurality of disordered soldering nails in sequence through vibration in response to the nail feeding instruction. The air compressor is configured to transmit the soldering nails which are queued in sequence to the soldering nail output port.
[78] In an embodiment of the present disclosure, the six-degrees-of-freedom industrial robot 180 in FIG. 1, connected to the host computer 140, is configured to perform soldering according to the soldering position after obtaining, through a robot arm, a label from the label output port and a soldering nail from the soldering nail output port respectively, to solder the label on the end surface of the bar bundle. In this embodiment, as shown in FIG. 2, the six-degrees-of-freedom industrial robot 180 includes a robot body, a robot controller, and a demonstrator. The robot body 207 includes a robot arm, a motor and the like. The robot controller 205 is mainly configured to receive instructions and data, and then send operation information to the robot body. The demonstrator 206 is a hand-held device for manual operation, programming, parameter configuration and monitoring of the robot.
[79] In an embodiment of the present disclosure, as shown in FIG. 2, the system further includes the soldering gun 210 connected to the controller 202 and the robot (specifically, the robot body 207), where the robot body carries the soldering gun and moves the soldering gun to the soldering position.
[80] The controller 150 feeds back confirmation information "labels are in place" and confirmation information "soldering nails are in place" to the host computer after generating the control signal corresponding to the nail feeding instruction and the control signal corresponding to the label feeding instruction.
[81] The host computer 140 sends an instruction "soldering preparation" to the robot controller in response to the confirmation information "labels are in place" and the confirmation information "soldering nails are in place", such that the robot controller obtains the soldering nails and the labels in sequence and moves them to the soldering position by controlling the robot arm.
[82] In an embodiment of the present disclosure, the controller further includes a detection circuit (not shown), configured to detect whether the soldering nails are in contact with the bar to generate a detection signal. When the detection signal is that the soldering nails are in contact with the bar, the controller sends a soldering start signal to the soldering gun, starts soldering, and feeds back information "soldering gun is triggered" to the host computer after the soldering is completed; or when the detection signal is that the soldering nails are not in contact with the bar, the controller continues to move the soldering nails in a direction close to the end surface of the bar.
[83] In an embodiment of the present disclosure, the detection circuit includes a power supply and a unidirectional on-resistance, if the circuit is on, the generated detection signal is that the soldering nails are in contact with the bar; or if the circuit is not on, the generated detection signal is that the soldering nails are not in contact with the bar.
[84] Based on what is described above, the six-degrees-of-freedom industrial robot carries out preparation work, fetches the soldering nails and the labels, and then moves them to the soldering position. The resistance detection circuit detects detect whether the soldering nails are in contact with the end surface of the bar. If the soldering nails are in contact with the end surface of the bar, label soldering is completed; if not, the six-degrees-of-freedom industrial robot continues to move until the soldering nails are in contact with the end surface of the bar. In the process of label soldering, the action of the robot is carried out according to the teaching programming route, and there is no need for human intervention.
[85] Take the structure shown in FIG. 2 as an example. The working process of the label soldering system is specifically shown in FIG. 3 as follows.
[86] (1) When the bars are transported to the label soldering platform by the crane after being cut, bundled and collided, the processing data center producing the bar sends parameter information of the bar bundle to the label printer. The label printer prints the label information on blank labels, completes label cutting and then transmits the labels to the label queuing mechanism outside the printer.
[87] At the same time, information "label print completion" is sent to the host computer to inform the host computer that the bar has been produced and the labels have been printed.
[88] (2) After receiving the information "label print completion" from the label printer, the host computer determines whether a soldering task may be initiated according to the system situation. If the soldering task may be initiated, it sends an instruction "camera is in place" to the robot controller, then the robot arm end carries the industrial camera to move from the initial position to a position in front of end surface of the bar (that is, the soldering position). Then the robot controller sends the information "camera is in place" to the host computer.
[89] (3) When receiving the information "label print completion", the host computer send an instruction "nail feeding" to the PLC. The PLC controls the soldering nail queuing mechanism to automatically queue the soldering nails and send them to a designated position, and then returns information "soldering nails are in place" to the host computer. Then, the host computer sends an instruction "label feeding" to the PLC. The PLC controls the label queuing mechanism to send the labels to a designated position, and then returns information "labels are in place" to the host computer.
[90] (4) After receiving the information "camera is in place", the host computer sends an instruction "photographing" to the industrial camera. The industrial camera photographs the end surface of the bar, sends information "photographed" to the host computer, and sends the photo to the host computer. The host computer identifies a bar target through an image processing software and a visual positioning software which are installed in it, extracts the optimal soldering pixel coordinate, and calculates a three-dimensional coordinate of the pixel according to the depth information collected by the laser sensor.
[91] (5) After the vision positioning software of the host computer calculates the three-dimensional coordinate of the soldering position, the host computer waits for the information "soldering nails are in place" and "labels are in place" from the PLC. If receiving the information, the host computer sends an instruction "robot soldering preparation" to the robot controller. The robot soldering preparation includes: fetching the soldering nails and the labels according to a planned path, moving to the soldering position determined based on vision positioning and touching the bar.
[92] (6) When the robot moves to the soldering position and touches the bar (that is, steel bar), information "apply for soldering" is sent to the host computer. After receiving the information, the host computer sends an instruction "trigger soldering gun" to the PLC. Then the PLC triggers the soldering gun and sends information "soldering gun is triggered" to the host computer. The specific soldering process is as follows. The robot carries the soldering gun starting from the soldering nail position and moves about 3mm from top to bottom to fetch the soldering nails, then reaches the label position and moves about 3mm from top to bottom to punch the soldering nails into holes of the labels, and at the same time initiates the chuck to absorb the labels, thereby preventing the labels from falling off.
[93] (7) After receiving the information "soldering gun is triggered", the host computer sends an instruction "reset" to the robot. After receiving the instruction "reset", the robot stays for 3 seconds, waiting for the soldering joint to become firm and solid, returns to the initial position according to the planned path, and sends information "soldering is completed" to the host computer. Then the label soldering system can start a next soldering task.
[94] To verify the reliability of the present disclosure, according to flowchart shown in FIG. 3, image 1198, 1200 and 1206 of bar bundles with diameters of 12mm, 25mm and 50mm were respectively collected for experimental verification. Through systematic soldering, the soldering success rate is 99.83% for the bar with diameter of 12mm, 99.91% for the bar with diameter of mm and 99.92% for the bar with diameter of 50mm. From the soldering results, the label soldering system for a bar bundle based on machine vision has a high soldering success rate and can meet the label soldering requirements for bar bundle.
[95] To sum up, the label soldering system for a bar bundle based on machine vision provided in the embodiment of the present disclosure has an excellent effect.
[96] Compared with the existing label soldering system for a bar bundle technology, in the system of the disclosure, the label soldering position is located based on machine vision, the soldering is completed by using the six-degrees-of-freedom industrial robot, and the nails and the labels are automatically fed by using the soldering nail queuing mechanism and the label queuing mechanism, so that manual input and potential safety trouble may be reduced. Compared with manual soldering, accurate of the system delivers a more beautiful and neat soldering effect, and what is soldered is not easy to fall off, thereby simplifying the work and improving production efficiency.
[97] Those skilled in the art will easily think of other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field that are not disclosed by the present disclosure. The description and the embodiments are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.
[98] It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is defined only by the appended claims.
Claims (5)
1. A label soldering system for a bar bundle based on machine vision, comprising: a data acquisition module, a label printer, a vision acquisition module, a host computer, a controller, a label queuing mechanism, a soldering nail queuing mechanism and a six-degrees-of-freedom industrial robot, wherein the data acquisition module is configured to acquire bar information of a bar bundle to be soldered with a label in real time by communicating with a factory data center; the label printer, connected to the data acquisition module, is configured to print the bar information on the label and generate a label print completion instruction; the vision acquisition module is configured to collect information of an end surface of the bar bundle to obtain end surface data information; the host computer, connected to the label printer and the vision acquisition module, is configured to receive the label print completion instruction to generate a nail feeding instruction and a label feeding instruction, and determine a soldering position according to the end surface data information; the controller, connected to the host computer, is configured to generate a control signal corresponding to the nail feeding instruction and a control signal corresponding to the label feeding instruction; the label queuing mechanism, connected to the label printer and the controller, is configured to queue printed labels in sequence and transmit the printed labels to a label output port according to the control signal corresponding to the label feeding instruction; the soldering nail queuing mechanism, connected to the controller, is configured to queue a plurality of soldering nails in sequence and transmit the soldering nails to a soldering nail output port according to the control signal corresponding to the nail feeding instruction; and the six-degrees-of-freedom industrial robot, connected to the host computer, is configured to perform soldering according to the soldering position after obtaining, through a robot arm, a label from the label output port and a soldering nail from the soldering nail output port respectively, to solder the label on the end surface of the bar bundle.
2. The label soldering system for a bar bundle based on machine vision according to claim 1, wherein the data acquisition module comprises: a communication submodule, configured to obtain processing data of the bars in real time by communicating with the factory data center; and a processing submodule, configured to divide the processing data according to bundling of the bars to acquire bar information of each bar bundle; wherein the bar information comprises at least name of processing manufacturer, furnace number, steel number, specifications and implementation standards.
3. The label soldering system for a bar bundle based on machine vision according to claim 1, wherein the end surface data information comprises an end surface image and depth information; wherein the vision acquisition module comprises: a camera, configured to collect end surface images of the bars; and a laser sensor, configured to collect depth from the end surface images of the bars to the camera; wherein the host computer determining a soldering position according to the end surface data information comprises: identifying end surfaces of the bars according to the end surface images; determining a pixel point of an optimal soldering position by positioning an end surface of each bar according to the end surfaces of the bars; and obtaining a three-dimensional coordinate of the soldering position according to the pixel point of the optimal soldering position and the depth information.
4. The label soldering system for a bar bundle based on machine vision according to claim 2, wherein after receiving the label print completion instruction, the host computer is further configured to: determine whether to initiate a soldering task according to obtained equipment operating status, if the equipment operating status meets a preset condition, initiate the soldering task and generate a corresponding acquisition instruction such that the vision acquisition module collects the information of the end surface of the bar bundle in response to the received acquisition instruction; and receive confirmation information "camera is in place" after the vision acquisition module moves from an initial position to a preset position of the end surface of the bar bundle; and generate a photographing instruction according to the confirmation information "camera is in place", send the photographing instruction to the camera, and receive confirmation information "photographed" that is fed back after the camera finishes photographing; wherein the soldering nail queuing mechanism comprises: a feeding vibration plate, configured to queue a plurality of disordered soldering nails in sequence through vibration in response to the nail feeding instruction; and an air compressor, configured to transmit the soldering nails which are queued in sequence to the soldering nail output port.
5. The label soldering system for a bar bundle based on machine vision according to claim 4 further comprises: a soldering gun connected to the controller and the six-degrees-of-freedom industrial robot, wherein the six-degrees-of-freedom industrial robot carries the soldering gun and moves the soldering gun to the soldering position; the six-degrees-of-freedom industrial robot comprises a robot control system; the controller feeds back confirmation information "labels are in place" and confirmation information "soldering nails are in place" to the host computer after generating the control signal corresponding to the nail feeding instruction and the control signal corresponding to the label feeding instruction; and the host computer sends a "soldering preparation" instruction to the robot controller in response to the confirmation information "labels are in place" and the confirmation information "soldering nails are in place", such that the robot controller obtains the soldering nails and the labels in sequence and moves them to the soldering position by controlling the robot arm; wherein the controller comprises: a detection circuit, configured to detect whether the soldering nails are in contact with the bar to generate a detection signal; when the detection signal is that the soldering nails are in contact with the bar, the controller sends a soldering start signal to the soldering gun, starts soldering, and feeds back information "soldering gun is triggered" to the host computer after the soldering is completed; or when the detection signal is that the soldering nails are not in contact with the bar, the controller continues to move the soldering nails in a direction close to the end surface of the bar; wherein the detection circuit comprises a power supply and a unidirectional on-resistance, if the circuit is on, the generated detection signal is that the soldering nails are in contact with the bar; or if the circuit is not on, the generated detection signal is that the soldering nails are not in contact with the bar.
－1/2－
FIG. 2 FIG. 1
－2/2－ Jun 2021
Start
Feed a nail and feed a label
Search a bar and acquire an image 2021103278
Process the image and perform vision positioning
A robot fetches a nail and a label
The robot reaches the position
Does a soldering No nail touch the bar? Yes
Trigger a soldering gun
Reset
End
FIG. 3
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021103278A AU2021103278A4 (en) | 2021-06-10 | 2021-06-10 | Label soldering system for bar bundle based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2021103278A AU2021103278A4 (en) | 2021-06-10 | 2021-06-10 | Label soldering system for bar bundle based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| AU2021103278A4 true AU2021103278A4 (en) | 2021-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2021103278A Ceased AU2021103278A4 (en) | 2021-06-10 | 2021-06-10 | Label soldering system for bar bundle based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117884835A (en) * | 2024-03-18 | 2024-04-16 | 天津朔程科技有限公司 | Boom rotating device for assembling and welding middle joint of crane boom |
-
2021
- 2021-06-10 AU AU2021103278A patent/AU2021103278A4/en not_active Ceased
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117884835A (en) * | 2024-03-18 | 2024-04-16 | 天津朔程科技有限公司 | Boom rotating device for assembling and welding middle joint of crane boom |
| CN117884835B (en) * | 2024-03-18 | 2024-05-07 | 天津朔程科技有限公司 | Boom rotating device for assembling and welding middle joint of crane boom |
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