CN105108344A - Intelligent control system of robot fiber laser marking machine - Google Patents
Intelligent control system of robot fiber laser marking machine Download PDFInfo
- Publication number
- CN105108344A CN105108344A CN201510549158.9A CN201510549158A CN105108344A CN 105108344 A CN105108344 A CN 105108344A CN 201510549158 A CN201510549158 A CN 201510549158A CN 105108344 A CN105108344 A CN 105108344A
- Authority
- CN
- China
- Prior art keywords
- unit
- robot
- control system
- laser
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/007—Marks, e.g. trade marks
Abstract
The invention relates to an intelligent control system of a robot fiber laser marking machine. The intelligent control system is connected with a control system robot and specially comprises an image collection system, a controller, a laser ranging unit, a visual detection and positioning unit, a vibration mirror plane control unit and a GPRS remote internet of things system. The controller is connected with the image collection system, the laser ranging unit, the visual detection and positioning unit, the vibration mirror plane control unit and the GPRS remote internet of things system. The image collection system is connected with the laser ranging unit and the visual detection and positioning unit. The image collection system, the GPRS remote internet of things system and the visual detection and positioning unit are connected with a computer control system. The intelligent control system of the robot fiber laser marking machine has the advantages that the artificial intelligence control function is simulated, the purpose of comprehensive and full-automatic positioning is achieved, original position data are provided for fiber laser marking, and accurate positioning for marking is achieved.
Description
Technical field
The present invention relates to laser marking machine field, particularly relate to a kind of robot laser marking machine intelligence control system.
Background technology
Along with the progress of science and technology, laser processing technology obtains fast development, and Laser Processing becomes a kind of emerging advanced manufacturing technology.Especially laser marking technology, applies more and more extensive in recent years.Computer technology, optics, the dependable with function of laser instrument etc. improves constantly, and facilitates the development of laser marking technology all as quick as thought, expands its application prospect in every profession and trade field further.
Current, at metallurgy industry, adopt mark of spraying paint more.This marking method marks loosely, and consumable quantity is large, and spray gun easily blocks up, more seriously contaminated environment.So invention robot laser marking machine is the new first-selection of technology innovation.
Along with the fast development of modern industry, industrial robot has high speed, high accuracy, Gao Zhi, and apery operates, can automatically control, overprogram, learning from instruction, and can complete the features such as various job tasks at three dimensions, will enter various production line fast.Optical fiber laser mixed by industrial robot, and can realize comprehensive, full automatic apery operation mark, become flexible manufacturing system (FMS), this will be a technological innovation of mark industry.
But robot laser marking needs the joint coordination control problem solving robot and laser marking machine, this just needs to study New Intelligent Control System.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of this invention is to provide a kind of robot laser marking machine intelligence control system, the joint coordination realizing robot and laser marking machine controls.
For achieving the above object, the present invention is achieved through the following technical solutions:
A kind of robot laser marking machine intelligence control system, this intelligence control system is connected with robot control system Robot, specifically comprise image capturing system, controller, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system, controller is connected with image capturing system, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system respectively; Image capturing system is connected with laser ranging unit, vision-based detection positioning unit, and image capturing system, GPRS remote internet of things system vision-based detection positioning unit are connected with computer control system;
Image capturing system is by camera collection image information, and image information is sent to laser ranging unit, vision-based detection positioning unit, laser ranging unit determination laser spot is to work piece distance, and this range information is sent on controller, be sent to galvanometer plane control unit after via controller process; Positional information by the job position of image information determination work piece, and is sent on controller by vision-based detection positioning unit, will be sent to galvanometer plane control unit after controller process.
Information after controller process is sent on Internet of Things by described GPRS remote internet of things system, and user exchanges information by IP address.
Described GPRS remote internet of things system comprises embedded micro computer, electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface, power conversion module, embedded micro computer and electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface connect, and GPRS module is connected with SIM.
Compared with prior art, the invention has the beneficial effects as follows:
1) joint coordination achieving robot and laser marking machine controls, there is anthropomorphic arm controlling functions, image acquisition units is adopted to gather the positional information of work piece, and detected by laser ranging unit, vision-based detection positioning unit, achieve object that is comprehensive, automatic location, for laser marking provides locator data and laser focal, realize accurate mark.
2) can realize the operation of comprehensive, full automatic apery, become flexible manufacturing system (FMS), this will be a technological innovation of mark industry.
3) the present invention is by the setting of GPRS remote internet IP address, achieves internet of things functional.
Accompanying drawing explanation
Fig. 1 is industrial robot laser marking machine structure composition diagram.
Fig. 2 is laser marking machine structure chart.
Fig. 3 is laser marking machine laser light path system figure.
Fig. 4 is the complex control system of industrial robot laser marking machine.
Fig. 5 is GPRS remote internet of things wireless transmitting system figure.
Fig. 6 is the embedded micro computer basic circuit diagram of GPRS remote internet of things wireless transmitting system.
Fig. 7 is the GPRS module basic circuit diagram of GPRS remote internet of things wireless transmitting system.
Fig. 8 is the address setting principle circuit diagram of GPRS remote internet of things wireless transmitting system.
Fig. 9 is the power circuit diagram of GPRS remote internet of things wireless transmitting system.
Figure 10 is the LCD display circuit diagram of GPRS remote internet of things wireless transmitting system.
In figure: 1-base plate 2-workbench 3-work piece 4-laser instrument terminal pad 5-robot wrist's 6-wrist joint of robot 7-robot laser's Transmission Fibers and horizontal rotary disk 14-robot of cable 8-robot forearm 9-Robot elbow joint 10-retainer ring 11-robot ' s arm 12-shoulder joint 13-robot support
100-laser marking machine 101-lens cover 102-laser galvanometer system 103-reflects mirror case 104-laser finishing chamber 105-support 106-elastic protective bellows 107-gripper shoe 108-camera
102-1-X axle galvanometer motor 102-2-X axle galvanometer 102-3-Y axle galvanometer motor 102-4--Y axle galvanometer
102-5-laser scanning scope 104-1-speculum 104-2-beam-expanding system 104-3-dynamic focusing system
102-1-X axle galvanometer motor 102-2-X axle galvanometer 102-3-Y axle galvanometer motor 102-4--Y axle galvanometer
102-5-laser scanning scope 104-1-speculum 104-2-beam-expanding system 104-3-dynamic focusing system.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention is described in detail, but it should be noted that enforcement of the present invention is not limited to following embodiment.
See Fig. 1, industrial robot laser marking machine, comprise industrial robot and laser marking machine 100, industrial robot comprises base plate 1, robot support 14 is fixed on base plate 1, the horizontal rotary disk 13 of robot is arranged on robot support 14, robot ' s arm 11 is connected on the horizontal rotary disk 13 of robot, robot forearm 8 is connected with robot ' s arm 11, robot forearm 8 is provided with robot wrist 5, laser marking machine 100 is connected on robot wrist 5 by laser instrument terminal pad 4, and work piece 3 placed by the workbench 2 below laser marking machine 100.
See Fig. 2, laser marking machine 100 comprises the gripper shoe 107 being connected to laser instrument terminal pad 4, gripper shoe 107 is provided with support 105, elastic protective bellows 106 is provided with above support 105, be provided with laser finishing chamber 104 below support 105, below laser finishing chamber 104, be provided with reflection mirror case 104, below reflection mirror case 104, be provided with camera 108, reflection mirror case 104 is connected with laser galvanometer system 102, is provided with lens cover 101 below laser galvanometer system 102.
See Fig. 3, laser marking machine laser light path system, comprise the beam-expanding system 104-2 be connected with laser instrument Transmission Fibers and cable 7, beam-expanding system 104-2 connects dynamic focusing system 104-3, dynamic focusing system 104-3 reflects light on X-axis galvanometer 102-2 and Y-axis galvanometer 102-4 by speculum 104-1, X-axis galvanometer 102-2 is driven by X-axis galvanometer motor 102-1, and Y-axis galvanometer 102-4 is driven by Y-axis galvanometer motor 102-3.
See Fig. 4-Fig. 8, robot laser marking machine intelligence control system, this intelligence control system is connected with robot control system Robot, specifically comprise image capturing system, controller, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system, controller is connected with image capturing system, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system respectively; Image capturing system is connected with laser ranging unit, vision-based detection positioning unit, image capturing system, GPRS remote internet of things system vision-based detection positioning unit are connected with computer control system, and control information is transferred to host computer by Profibus-DP by computer control system.
Image capturing system is by camera collection image information, and image information is sent to laser ranging unit, vision-based detection positioning unit, laser ranging unit determination laser spot is to work piece distance, and this range information is sent on controller, be sent to galvanometer plane control unit after via controller process; Positional information by the job position of image information determination work piece, and is sent on controller by vision-based detection positioning unit, will be sent to galvanometer plane control unit after controller process.
Time in the θ angular region of laser focal, only need adjust the mark operation that galvanometer can realize within the scope of this; Mark location is greater than the θ angular region of laser focal, then need to send information to robot control system Robot, is moved by robot control system Robot control, until meet mark location in the θ angular region of laser focal.
Information after controller process is sent on Internet of Things by GPRS remote internet of things system, and user exchanges information by IP address.
GPRS remote internet of things system comprises embedded micro computer, electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface, power conversion module, embedded micro computer and electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface connect, and GPRS module is connected with SIM.Wherein, GPRS module adopts M1MG2639_V3; Embedded micro computer adopts CPU1-STC12LE5A60S2.
Claims (3)
1. a robot laser marking machine intelligence control system, this intelligence control system is connected with robot control system Robot, it is characterized in that, comprise image capturing system, controller, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system, controller is connected with image capturing system, laser ranging unit, vision-based detection positioning unit, galvanometer plane control unit, GPRS remote internet of things system respectively; Image capturing system is connected with laser ranging unit, vision-based detection positioning unit, and image capturing system, GPRS remote internet of things system vision-based detection positioning unit are connected with computer control system;
Image capturing system is by camera collection image information, and image information is sent to laser ranging unit, vision-based detection positioning unit, laser ranging unit determination laser spot is to work piece distance, and this range information is sent on controller, be sent to galvanometer plane control unit after via controller process; Positional information by the job position of image information determination work piece, and is sent on controller by vision-based detection positioning unit, will be sent to galvanometer plane control unit after controller process.
2. a kind of robot according to claim 1 laser marking machine intelligence control system, is characterized in that, the information after controller process is sent on Internet of Things by described GPRS remote internet of things system, and user exchanges information by IP address.
3. a kind of robot according to claim 1 laser marking machine intelligence control system, it is characterized in that, described GPRS remote internet of things system comprises embedded micro computer, electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface, power conversion module, embedded micro computer and electrification reset unit, LCD display, GPRS module, IP address setting unit, RS485 interface connect, and GPRS module is connected with SIM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510549158.9A CN105108344A (en) | 2015-08-31 | 2015-08-31 | Intelligent control system of robot fiber laser marking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510549158.9A CN105108344A (en) | 2015-08-31 | 2015-08-31 | Intelligent control system of robot fiber laser marking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105108344A true CN105108344A (en) | 2015-12-02 |
Family
ID=54656571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510549158.9A Pending CN105108344A (en) | 2015-08-31 | 2015-08-31 | Intelligent control system of robot fiber laser marking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105108344A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181062A (en) * | 2016-07-29 | 2016-12-07 | 讯创(天津)电子有限公司 | A kind of intelligent manufacturing system of all-fiber three-dimensional laser engraving antenna |
| CN106735954A (en) * | 2016-12-08 | 2017-05-31 | 大同煤矿集团有限责任公司 | A kind of complex foci space-time synchronous drilling control system based on internet |
| CN107199397A (en) * | 2016-03-17 | 2017-09-26 | 发那科株式会社 | Machine learning device, laser-processing system and machine learning method |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107598393A (en) * | 2017-10-11 | 2018-01-19 | 深圳市贝优通新能源技术开发有限公司 | A kind of safe and reliable laser cutting machine based on Internet of Things |
| CN108573295A (en) * | 2018-04-17 | 2018-09-25 | 湖南镭目科技有限公司 | A kind of tracking and tracks of device of irradiated fuel assembly |
| CN108994461A (en) * | 2018-08-17 | 2018-12-14 | 武汉天之逸科技有限公司 | A kind of Intelligent Laser marking processing experience system and its implementation |
| CN110253153A (en) * | 2019-07-11 | 2019-09-20 | 王立之 | A kind of laser marking machine containing embedded system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH041505A (en) * | 1990-04-18 | 1992-01-07 | Matsushita Electric Ind Co Ltd | Three-dimensional position measuring method and acquiring method for work |
| CN1616920A (en) * | 2003-11-14 | 2005-05-18 | 北京理工大学 | Active real-time three-dimensional positioning system based on binocular vision and laser distance detection |
| CN202639650U (en) * | 2012-06-28 | 2013-01-02 | 德尔福电子(苏州)有限公司 | Laser welding equipment with functions of automatic range measurement and visual localization |
| CN104191842A (en) * | 2014-09-10 | 2014-12-10 | 南京安迈机电有限责任公司 | Robot laser marking VIN (Vehicle Identification Number) control system and method thereof |
| CN104439729A (en) * | 2014-12-01 | 2015-03-25 | 鞍山正亚激光科技有限公司 | Vision positioning system and positioning method for laser processing |
| CN204366272U (en) * | 2014-12-01 | 2015-06-03 | 鞍山正亚激光科技有限公司 | A kind of Laser Processing vision positioning system |
-
2015
- 2015-08-31 CN CN201510549158.9A patent/CN105108344A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH041505A (en) * | 1990-04-18 | 1992-01-07 | Matsushita Electric Ind Co Ltd | Three-dimensional position measuring method and acquiring method for work |
| US5280436A (en) * | 1990-04-18 | 1994-01-18 | Matsushita Electric Industrial Co., Ltd. | Method for measuring three-dimensional position of object to be captured and method for capturing the object |
| CN1616920A (en) * | 2003-11-14 | 2005-05-18 | 北京理工大学 | Active real-time three-dimensional positioning system based on binocular vision and laser distance detection |
| CN202639650U (en) * | 2012-06-28 | 2013-01-02 | 德尔福电子(苏州)有限公司 | Laser welding equipment with functions of automatic range measurement and visual localization |
| CN104191842A (en) * | 2014-09-10 | 2014-12-10 | 南京安迈机电有限责任公司 | Robot laser marking VIN (Vehicle Identification Number) control system and method thereof |
| CN104439729A (en) * | 2014-12-01 | 2015-03-25 | 鞍山正亚激光科技有限公司 | Vision positioning system and positioning method for laser processing |
| CN204366272U (en) * | 2014-12-01 | 2015-06-03 | 鞍山正亚激光科技有限公司 | A kind of Laser Processing vision positioning system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199397A (en) * | 2016-03-17 | 2017-09-26 | 发那科株式会社 | Machine learning device, laser-processing system and machine learning method |
| CN106181062A (en) * | 2016-07-29 | 2016-12-07 | 讯创(天津)电子有限公司 | A kind of intelligent manufacturing system of all-fiber three-dimensional laser engraving antenna |
| CN106735954A (en) * | 2016-12-08 | 2017-05-31 | 大同煤矿集团有限责任公司 | A kind of complex foci space-time synchronous drilling control system based on internet |
| CN106735954B (en) * | 2016-12-08 | 2018-04-17 | 大同煤矿集团有限责任公司 | A kind of complex foci space-time synchronous drilling control system based on internet |
| CN107234338A (en) * | 2017-08-07 | 2017-10-10 | 镇江金海创科技有限公司 | A kind of Intelligent laser scanning galvanometer system and laser marking device |
| CN107598393A (en) * | 2017-10-11 | 2018-01-19 | 深圳市贝优通新能源技术开发有限公司 | A kind of safe and reliable laser cutting machine based on Internet of Things |
| CN108573295A (en) * | 2018-04-17 | 2018-09-25 | 湖南镭目科技有限公司 | A kind of tracking and tracks of device of irradiated fuel assembly |
| CN108994461A (en) * | 2018-08-17 | 2018-12-14 | 武汉天之逸科技有限公司 | A kind of Intelligent Laser marking processing experience system and its implementation |
| CN110253153A (en) * | 2019-07-11 | 2019-09-20 | 王立之 | A kind of laser marking machine containing embedded system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105108344A (en) | Intelligent control system of robot fiber laser marking machine | |
| CN204997228U (en) | Optic fibre laser marking of robot machine intelligence control system | |
| CN104384765B (en) | Based on the automatic soldering method of threedimensional model and machine vision | |
| CN104439729A (en) | Vision positioning system and positioning method for laser processing | |
| CN109848964B (en) | Teaching robot data collector system based on optical motion capture | |
| CN102284769A (en) | System and method for initial welding position identification of robot based on monocular vision sensing | |
| CN110125944B (en) | Mechanical arm teaching system and method | |
| CN204366272U (en) | A kind of Laser Processing vision positioning system | |
| CN101298116B (en) | Non-coaxial positioning method for processing laser material | |
| CN106468572B (en) | Articulated robot dynamic property evaluation system | |
| CN206253303U (en) | A kind of dispenser system with dual camera | |
| CN105034608A (en) | Industrial robot laser marking machine | |
| CN112643207B (en) | Laser automatic derusting system and method based on computer vision | |
| CN204870091U (en) | Industrial robot laser marking machine | |
| CN113246142B (en) | Measuring path planning method based on laser guidance | |
| CN114434059B (en) | Automatic welding system and method for large structural part with combined robot and three-dimensional vision | |
| CN104699115A (en) | Intelligent self-positioning system of spraying robot | |
| EP3602214B1 (en) | Method and apparatus for estimating system error of commissioning tool of industrial robot | |
| CN110568866A (en) | Three-dimensional curved surface vision guiding alignment system and alignment method | |
| CN205343173U (en) | Trick coordinate system calibration device of robot | |
| CN201223996Y (en) | Non-coaxial locating device for processing laser material | |
| CN111360789B (en) | Workpiece processing teaching method, control method and robot teaching system | |
| CN201988844U (en) | High-precision laser machining device | |
| CN109894763B (en) | Solar module junction box positioning and assembling system and positioning and assembling method thereof | |
| CN109974620A (en) | A kind of measuring three-dimensional profile system and its measurement method based on Labview |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151202 |
|
| WD01 | Invention patent application deemed withdrawn after publication |