CN111098316A - Laser recording and reading device and method for two-dimensional code on surface of hub - Google Patents
Laser recording and reading device and method for two-dimensional code on surface of hub Download PDFInfo
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- CN111098316A CN111098316A CN202010015250.8A CN202010015250A CN111098316A CN 111098316 A CN111098316 A CN 111098316A CN 202010015250 A CN202010015250 A CN 202010015250A CN 111098316 A CN111098316 A CN 111098316A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The invention discloses a laser recording and reading device for a two-dimensional code on the surface of a hub, which comprises an electrical control cabinet, an industrial robot, a vision system, a laser recorder and mechanical parts for centering, jacking and rotating. Firstly, centering, jacking and rotating the hub, acquiring character information on the surface of the rotating hub by a 3D recognition camera, and judging the wheel type information of the hub by a control system. The robot clamps the wheel hub to photograph the inner flange of the wheel hub, the rotation angle is calculated by comparing the characteristic point with the standard position, and the robot drives the wheel hub to rotate to determine the two-dimensional code recording position. The laser recorder starts to record the two-dimensional code on the hub, the code reading camera identifies the recorded two-dimensional code, and the identification result is output to complete equipment work. The hub two-dimensional code recording and reading device has the advantages of good stability and high recognition rate, is suitable for recording and reading two-dimensional codes of hubs of different wheel types, and can meet the requirements of monitoring the hub production process and traceability of hub information in a hub production plant.
Description
Technical Field
The invention relates to the field of automatic machining machinery for aluminum alloy wheels. In particular to a laser recording and reading device and a laser recording and reading method for a two-dimensional code on the surface of a hub.
Technical Field
In the production and processing of the hub industry, the requirement for accurate tracking of hub information is stronger, and at present, certain corresponding products and technical development have been made in the aspects of two-dimensional code laser recording and reading on the surface of a hub at home and abroad, for example, a hub coding system disclosed in chinese patent CN201210475956.8 is suitable for hubs of different sizes. Chinese patent cn2013204624. x discloses a coding machine, and an ink box and a guide rail are arranged on a coding machine body, and a coding device is arranged on the guide rail. Chinese patent cn201410022300.x discloses a coding machine, it is including being used for bearing the board of waiting to code the piece and being used for detecting wait to code the position detection device of a position, wherein, coding machine is still including being used for the adjustment wait to code the position adjustment device of a position, work as position detection device detects to set up on the board wait to code the piece and deviate in when predetermineeing the position, position adjustment device can with wait to code the piece and remove extremely predetermineeing the position. Chinese patent CN201510619315.9 discloses a laser on-line high-efficiency etching and product anti-counterfeiting traceability system applied to steel, which is characterized in that: the laser code carving system etches formed encrypted two-dimensional codes onto steel by adopting laser, and authenticity of products is judged by identifying the two-dimensional codes.
However, the existing equipment and method have limitations in different degrees, and no mature technical scheme and forming equipment exist in the aspect of distinguishing different molds of various wheel types.
Disclosure of Invention
In order to solve the technical problems, the invention provides a device and a method for reading a two-dimensional code on the surface of a hub by laser recording, which have the capability of accurately identifying information such as different wheel types and different molds and the like, and can stably and quickly process the hub on a production line. The working flow of the equipment is refined, the system works step by step to realize the multi-station processing process, the stability of the equipment is improved to a great extent, and the production beat is saved.
The complete technical scheme of the invention comprises the following steps:
a hub surface two-dimensional code recording and reading device comprises a hub circulation roller way, a hub centering positioning device, a jacking device, a rotating device, a 3D identification device, a six-axis industrial robot, a 2D identification device, a focal length confirmation device, a two-dimensional code laser recording device, a two-dimensional code reading device, an electrical control cabinet and a control system;
the six-axis industrial robot is positioned on one side of the wheel hub circulation roller way, and the working area of the six-axis industrial robot is positioned right above the roller way;
the jacking device is positioned below the wheel hub circulation roller way, the mounting height of the jacking device is lower than the upper surface of the wheel hub circulation roller way, the wheel hub centering positioning device is positioned on the wheel hub circulation roller way, and the two sides of the jacking device are positioned on the two sides of the wheel hub circulation roller way;
the 3D recognition device is fixed on one side of the hub circulation roller way, which is far away from the industrial robot;
the two-dimensional code reading device is integrally installed on an electric control cabinet on one side, away from an industrial robot, of a hub circulation roller way, the two-dimensional code reading device is integrally installed on the electric control cabinet, the two-dimensional code reading device, the focal distance confirming device and the two-dimensional code laser recording device are kept on the same horizontal line, the two-dimensional code laser recording device is used for starting recording of two-dimensional codes on a hub according to preset setting, the focal distance confirming device is used for verifying the distance between a laser recorder and the position of the hub surface recorded codes, the two-dimensional code reading device is used for reading and verifying after the two-dimensional code recording is completed, and the 2D recognition device is used for photographing and searching for feature points after the hub reaches the recognition area of the feature points.
Preferably, the hub centering device is a hub centering holding claw, the jacking device is a jacking cross iron frame, the rotating device is a servo motor, the 3D identification device is a 3D camera, the 2D identification device is a 2D camera, the focal length confirmation device is a laser sensor, the two-dimensional code laser recording device is a laser recorder, and the two-dimensional code reading device is a code reading camera.
Preferably, the surface of the jacking cross iron frame is provided with threads.
Preferably, a cylinder and an electromagnetic valve connected with the hub are arranged below the hub centrally-positioned holding claw, and the clamping and loosening state of the hub is monitored.
Preferably, the 3D camera is fixed on one side, far away from the industrial robot, of the wheel hub circulation roller table through a metal support, the installation height of the camera is consistent with the height of the outer rim character after the wheel hub is jacked, and the installation angle can be adjusted.
Preferably, the 3D camera identifies the wheel model number and the mold number of the wheel hub by identifying characters on an outer rim of the wheel hub.
Preferably, the 2D camera identifies the feature points in the flange plate in the hub to determine the recording position of the two-dimensional code.
Preferably, the six-axis industrial robot grips a hub lip of the wheel hub through a clamping and loosening action, and displacement of the wheel hub within a wide range is achieved.
Preferably, the control system consists of an industrial personal computer and a PLC industrial circuit and is used for monitoring various signals and sending action instructions.
The method for recording and reading the two-dimensional code on the surface of the hub by using the equipment for recording and reading the two-dimensional code on the surface of the hub designed by the invention comprises the following steps:
(1) identification of hub wheel type: after the wheel hub enters a laser recording working area, the wheel hub is firstly centered and positioned by the wheel hub centering positioning device, the wheel hub after centering is jacked by the jacking device, the wheel hub is driven to rotate by 180 degrees by the rotating device, the 3D identification camera beside the roller way collects the character information on the surface of the rotating wheel hub, and the control system judges the wheel type information of the wheel hub by processing the collected character information.
(2) Determining the code carving position: the six-axis industrial robot clamps and gets wheel hub and shoot the interior ring flange of wheel hub, finds its characteristic point and compares with the standard position, calculates rotation angle, and six-axis industrial robot drives wheel hub rotation, confirms two-dimensional code carving position.
(3) Recording and reading the two-dimensional code: after the six-axis industrial robot drives the wheel hub to reach the two-dimensional code burning position, the control system triggers a code burning signal, the two-dimensional code laser burning device starts to burn the two-dimensional code on the wheel hub according to preset setting, after the burning is completed, the robot drives the wheel hub to reach the code reading position, the two-dimensional code reading device identifies the burned two-dimensional code, and the identification result is output to complete equipment work.
Preferably, the hub centering device is a hub centering holding claw, the jacking device is a jacking cross iron frame, the rotating device is a servo motor, the 3D identification device is a 3D camera, the 2D identification device is a 2D camera, the focal length confirmation device is a laser sensor, the two-dimensional code laser recording device is a laser recorder, and the two-dimensional code reading device is a code reading camera.
Preferably, two identified locations are included:
1. identifying characters on an outer rim of the hub through a 3D camera to identify the wheel type and the mold number of the hub;
2. and identifying the characteristic points in the flange plate in the hub through the 2D camera to determine the burning position of the two-dimensional code.
Preferably, the characters on the outer rim of the hub and the feature points on the inner flange are formed by casting with a low pressure casting machine, and the characters and the feature points have certain specification requirements or characteristics for easy identification.
Preferably, in the step (1), the 3D camera continuously collects specific characters on the surface of the outer rim in the form of transmitting and receiving strip-shaped light beams during the rotation of the hub, and the system identifies the collected characters to generate the required wheel type information and two-dimensional code coding information.
Preferably, in the step (1), when the photoelectric switch detects that the hub reaches a specified position, the hub centering positioning holding claw is clamped, and when the electromagnetic valve detects that the pressure of the hub centering positioning holding claw reaches a set value, the hub centering positioning holding claw is opened to complete centering positioning;
preferably, in the step (1), the jacking cylinder lifts the cross iron frame above, the cylinder controls the jacking and descending actions of the cross iron frame, the cylinder jacks the cross iron frame when the system detects that the hub centering positioning claw clamping action is finished, and the cylinder drives the cross frame to descend when the system detects that the servo motor reversing signal is finished, so that the jacking and descending actions are finished;
preferably, in the step (1), the servo motor is connected with the cross iron frame to drive the wheel hub to rotate, the servo motor starts to rotate clockwise when the system detects that the jacking action is finished, and the servo motor starts to rotate anticlockwise to the original position when the system detects that the robot has taken a material signal, so that the rotation action is finished;
preferably, in the step (1), the 3D camera is fixed beside the roller way through a support, the angle is adjustable, and the installation height of the 3D camera is consistent with the height of characters on the outer rim after the wheel hub is jacked.
Preferably, in the step (2), the confirming step of the recording position is: after the hub reaches the identification area of the 2D camera for the feature point, the 2D camera takes a picture to search for the feature point, the control system presets displacement values of the feature point and the two-dimensional code burning position of different wheel types, the control system judges whether the two-dimensional code burning position is in an allowable range or not according to the displacement values, if the two-dimensional code burning position is not in the allowable range, the control system calculates and adjusts the hub position according to the feature point position, repeats the 2D camera taking picture searching process and repeats the judging process;
when the control system judges that the two-dimensional code burning position is within the allowable range, the hub moves to the position of the next process, and when the camera cannot find the characteristic point or the control system judges that the sum of the absolute values of the accumulated rotation angles of the hub is larger than 180 degrees, the robot places the hub at the discharging position of the roller way and outputs a code burning failure signal.
Preferably, in the step (3), the focus verifying step includes: when the wheel hub reaches the focal length confirming position, the laser sensor measures the focal length signal, when the measuring result is not in the recording allowable range of the focal length, the control system adjusts the distance between the wheel hub and the laser recorder according to the measuring result, the laser sensor measures the focal length signal again after the adjustment is completed, the measuring result is not in the allowable range of the focal length, the robot places the wheel hub at the discharging position of the roller table, the code recording failure signal is output, the measuring result is in the allowable range of the focal length, the wheel hub moves to the laser recording confirming position to start laser recording work, the wheel hub reaches the code reading position after the recording is completed, and the code reading camera reads recorded two-dimensional code information.
Particularly, in the invention, the hub centering device, the jacking device and the rotating device mainly realize the uniform rotation of the hub along the shaft center, the 3D camera synchronously acquires the surface image of the hub in the rotation process, and the system identifies the characters on the outer rim by analyzing the image and judges the wheel type information and the mold information. A series of information of corresponding wheel types, including the height of a wheel hub, the thickness of a wheel lip, the position of a weight-reducing pit and the like, is stored in the system, and the system can adjust the action of the robot according to the wheel types of the wheel hub and the corresponding wheel type information; the system also generates a corresponding two-dimensional code according to the judged wheel type. A six-axis industrial robot is applied to a hub surface two-dimensional code burning and reading device to realize various actions of a hub. After wheel type identification is completed, the system can send an action instruction to the six-axis industrial robot, the robot goes to a material taking point and grabs a hub wheel lip through a cylinder clamping jaw, and the purpose that the six-axis robot drives the hub to move in a large range is achieved. The method comprises the following steps that a hub firstly reaches a hub burning position identification area, a 2D camera shoots a flange plate in the hub, a system identifies an image, a characteristic point on the flange plate is found, the characteristic point and a two-dimensional code burning position have a determined displacement relation, different wheel types correspond to different displacement relations, the system can analyze the deviation between the position of the characteristic point and a set position during shooting according to the wheel types, and sends an action instruction to a robot to finish position adjustment; and after the primary adjustment is finished, the system sends an instruction for photographing, judging and adjusting, the instruction for completing the adjustment is that the feature point reaches the set region range, and the instruction for failing to adjust is that the sum of absolute values of the feature points can not be found by photographing through the 2D camera or the system judges that the accumulated rotation angle of the hub is larger than 180 degrees. After the characteristic point in the flange plate of the hub reaches the set area range, the robot acts the hub to reach the focal length confirming position, the laser sensor measures the focal length signal, when the measuring result is not in the recording allowable range of the focal length, the system adjusts the distance between the hub and the laser recorder according to the measuring result, the laser sensor measures the focal length signal again after the adjustment is completed, the measuring result is not in the allowable range of the focal length, the robot places the hub at the discharging position of the roller table, the recording failure signal is output, the measuring result is in the allowable range of the focal length, the hub moves to the laser recording confirming position to start the laser recording work, the hub reaches the code reading position after the recording is completed, and the code reading camera reads the recorded two-dimensional code information.
Compared with the prior art, the invention has the following advantages:
1. the equipment is divided into multi-station production, so that the stability of the equipment is improved to a great extent, the processing beat is saved, and the processing efficiency is improved.
2. Compared with other code printing equipment, the hub surface two-dimensional code recording and reading equipment has the advantages that the identification function is added, the recorded two-dimensional code contains more information, and accurate tracking of hub information is realized.
3. The structure of the flange surface in the hub is complex, the range of an area for recording the two-dimensional code is limited, the recording and reading equipment for the two-dimensional code on the surface of the hub realizes accurate positioning of the recording position, and the success rate of recording and reading the two-dimensional code of the equipment is improved.
Drawings
Fig. 1 is a schematic structural diagram of a laser recording and reading device for a hub surface two-dimensional code according to the present invention.
In the figure: the device comprises a 1-3D camera, a 2-hub centering positioning holding claw, a 3-jacking cross iron frame, a 4-six-axis industrial robot, a 5-code reading camera, a 6-laser sensor, a 7-laser recorder and an 8-2D identification camera.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, a hub surface two-dimensional code recording and reading device comprises a hub circulation roller way, a hub centering positioning holding claw 2, a jacking cross iron frame 3, a servo motor, a 3D camera 1, a six-axis industrial robot 4, a 2D camera 8, a laser sensor 6, a laser recorder 7, a code reading camera 5, an electrical control cabinet and a control system;
the 3D camera 1 is fixed on one side, far away from the industrial robot, of the roller bed through a metal support, the installation height of the 3D camera is consistent with the height of characters of the outer rim after the wheel hub is jacked, the installation angle is adjustable, and the wheel type number and the mold number of the wheel hub are identified by identifying the characters on the outer rim of the wheel hub;
the hub middle positioning holding claw 2 is connected with a lower cylinder and an electromagnetic valve, monitors the clamping and loosening state of the hub middle positioning holding claw, and is positioned on the hub circulation roller way and on two sides of the jacking device;
the surface of the jacking cross iron frame 3 is provided with threads, the mounting height is lower than the upper surface of the roller way, and the threads can increase the friction with the hub during jacking rotation, so that the cross iron frame and the hub can synchronously rotate;
the six-axis industrial robot 4 is positioned on one side of the wheel hub circulation roller way, and the main working area is positioned right above the roller way; the hub lip is grabbed through clamping and loosening actions, and large-range displacement of the hub is achieved.
The code reading camera 5 is used for reading and verifying after the two-dimensional code recording is finished, and the installation positions are on the same horizontal line behind the laser recorder;
the laser sensor 6 is used for checking the distance between the laser recorder and the code-carving position on the surface of the hub; the laser recorder 7 requires the distance between the laser sensors to be as small as possible during installation, so that the accuracy of the measurement result of the laser sensors is ensured;
the 2D camera 8 is guaranteed to be kept on the same horizontal line with the centers of the laser sensor, the laser recorder and the code reading camera, and the 2D camera determines the recording position of the two-dimensional code by recognizing characteristic points in the flange plate in the hub.
The control system consists of an industrial personal computer and a PLC industrial circuit and is used for monitoring various signals and sending action instructions.
Claims (10)
1. A hub surface two-dimensional code recording and reading device is characterized by comprising a hub circulation roller way, a hub centering positioning device, a jacking device, a rotating device, a 3D identification device, a six-axis industrial robot, a 2D identification device, a focal length confirmation device, a two-dimensional code laser recording device, a two-dimensional code reading device, an electrical control cabinet and a control system;
the six-axis industrial robot is positioned on one side of the wheel hub circulation roller way, and the working area of the six-axis industrial robot is positioned right above the roller way;
the jacking device is positioned below the wheel hub circulation roller way, the installation height is lower than the upper surface of the wheel hub circulation roller way,
the hub centering positioning device is positioned on the hub circulation roller way and on two sides of the jacking device;
the 3D recognition device is fixed on one side of the hub circulation roller way, which is far away from the industrial robot;
the two-dimensional code reading device is integrally installed on an electric control cabinet on one side, away from an industrial robot, of a hub circulation roller way, the two-dimensional code reading device is integrally installed on the electric control cabinet, the two-dimensional code reading device, the focal distance confirming device and the two-dimensional code laser recording device are kept on the same horizontal line, the two-dimensional code laser recording device is used for starting recording of two-dimensional codes on a hub according to preset setting, the focal distance confirming device is used for verifying the distance between a laser recorder and the position of the hub surface recorded codes, the two-dimensional code reading device is used for reading and verifying after the two-dimensional code recording is completed, and the 2D recognition device is used for photographing and searching for feature points after the hub reaches the recognition area of the feature points.
2. The apparatus according to claim 1, wherein the hub centering device is a hub centering holding claw, the lifting device is a lifting cross iron frame, the rotating device is a servo motor, the 3D recognition device is a 3D camera, the 2D recognition device is a 2D camera, the focal length determining device is a laser sensor, the two-dimensional code laser recording device is a laser recorder, and the two-dimensional code reading device is a code reading camera.
3. A hub surface two-dimensional code recording and reading device according to claim 2, wherein the surface of the jacking cross iron frame is threaded, and a cylinder and an electromagnetic valve connected with the hub are arranged below the hub centering holding claw to monitor the clamping and loosening state of the hub.
4. A hub surface two-dimensional code burning and reading device according to claim 2, characterized in that the 3D camera is fixed on one side of the hub circulation roller way away from the industrial robot through a metal support, the mounting height of the camera is consistent with the height of the outer rim characters after the hub is lifted, the mounting angle can be adjusted, and the 3D camera recognizes the wheel type and the mold number of the hub by recognizing the characters on the outer rim of the hub.
5. The apparatus according to claim 2, wherein the 2D camera identifies the feature points in the flange plate inside the hub to determine the recording position of the two-dimensional code, and the control system comprises an industrial personal computer and a PLC industrial circuit, and is configured to monitor various signals and send an action command.
6. The method for recording and reading the two-dimensional code on the surface of the hub by using the apparatus for recording and reading the two-dimensional code on the surface of the hub of claim 2, comprising the steps of:
(1) identification of hub wheel type: after the wheel hub enters a laser recording working area, firstly, centering the wheel hub by a wheel hub centering device, jacking the centered wheel hub by a jacking device, driving the wheel hub to rotate 180 degrees by a rotating device, acquiring character information on the surface of the rotating wheel hub by a 3D identification camera positioned beside a roller way, and judging wheel type information of the wheel hub by processing the acquired character information by a control system;
(2) determining the code carving position: the six-axis industrial robot clamps the hub to photograph the flange plate in the hub, finds characteristic points of the flange plate, compares the characteristic points with a standard position, calculates a rotation angle, drives the hub to rotate by the six-axis industrial robot, and determines a two-dimensional code burning position;
(3) recording and reading the two-dimensional code: after the six-axis industrial robot drives the wheel hub to reach the two-dimensional code burning position, the control system triggers a code burning signal, the two-dimensional code laser burning device starts to burn the two-dimensional code on the wheel hub according to preset setting, after the burning is completed, the robot drives the wheel hub to reach the code reading position, the two-dimensional code reading device identifies the burned two-dimensional code, and the identification result is output to complete equipment work.
7. The method of claim 6, comprising two positions for identification and positioning:
1) identifying characters on an outer rim of the hub through a 3D camera to identify the wheel type and the mold number of the hub;
2) identifying characteristic points in a flange plate in the hub by a 2D camera to determine the burning position of the two-dimensional code;
the characters on the outer rim of the hub and the characteristic points on the inner flange plate are formed when the wheel hub is cast by a low-pressure casting machine, and the characters and the characteristic points have some specific specification requirements or characteristics so as to be convenient to identify.
8. The method for recording and reading the two-dimensional code on the surface of the hub according to claim 6, wherein in the step (1), the 3D camera continuously collects specific characters on the surface of the outer rim in the form of sending and receiving strip-shaped light beams in the rotation process of the hub, and the system identifies the collected characters to generate required wheel type information and two-dimensional code coding information;
in the step (1), when the photoelectric switch detects that the hub reaches a specified position, the hub centering positioning clamping claw is clamped, and when the electromagnetic valve detects that the pressure of the hub centering positioning clamping claw reaches a set value, the hub centering positioning clamping claw is opened to finish centering positioning;
in the step (1), a jacking cylinder lifts a cross iron frame above, the cylinder controls the jacking and descending actions of the cross iron frame, the cylinder jacks the cross iron frame when the system detects that the hub centering positioning clamping claw action is finished, and the cylinder drives the cross frame to descend when the system detects that a servo motor reverse signal is finished, so that the jacking and descending actions are finished;
in the step (1), a servo motor is connected with a cross iron frame to drive a wheel hub to rotate, the servo motor starts to rotate clockwise when the system detects that the jacking action is finished, and the servo motor starts to rotate anticlockwise to the original position when the system detects that a material taking signal of the robot is obtained, so that the rotation action is finished;
in the step (1), the 3D camera is fixed beside the roller way through a support, the angle is adjustable, and the installation height of the 3D camera is consistent with the height of characters on the outer rim after the hub is jacked.
9. The method for recording and reading the two-dimensional code on the hub surface according to claim 6, wherein in the step (2), the step of confirming the recording position is: after the hub reaches the identification area of the 2D camera for the feature point, the 2D camera takes a picture to search for the feature point, the control system presets displacement values of the feature point and the two-dimensional code burning position of different wheel types, the control system judges whether the two-dimensional code burning position is in an allowable range or not according to the displacement values, if the two-dimensional code burning position is not in the allowable range, the control system calculates and adjusts the hub position according to the feature point position, repeats the 2D camera taking picture searching process and repeats the judging process;
when the control system judges that the two-dimensional code burning position is within the allowable range, the hub moves to the position of the next process, and when the camera cannot find the characteristic point or the control system judges that the sum of the absolute values of the accumulated rotation angles of the hub is larger than 180 degrees, the robot places the hub at the discharging position of the roller way and outputs a code burning failure signal.
10. The method for recording and reading the two-dimensional code on the hub surface according to claim 6, wherein in the step (3), the step of confirming the recording focal length comprises: when the wheel hub reaches the focal length confirming position, the laser sensor measures the focal length signal, when the measuring result is not in the recording allowable range of the focal length, the control system adjusts the distance between the wheel hub and the laser recorder according to the measuring result, the laser sensor measures the focal length signal again after the adjustment is completed, the measuring result is not in the allowable range of the focal length, the robot places the wheel hub at the discharging position of the roller table, the code recording failure signal is output, the measuring result is in the allowable range of the focal length, the wheel hub moves to the laser recording confirming position to start laser recording work, the wheel hub reaches the code reading position after the recording is completed, and the code reading camera reads recorded two-dimensional code information.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111489367A (en) * | 2020-06-24 | 2020-08-04 | 浙江大学 | Positioning method for automatically selecting feasible coding area of hub two-dimensional code |
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| CN111846505A (en) * | 2020-07-08 | 2020-10-30 | 苏州工业园区欣隆电热仪器有限公司 | Automatic labeling machine |
| CN112917489A (en) * | 2021-01-22 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Robot system for three-dimensional scanning detection of switch cabinet |
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| CN114453759A (en) * | 2022-03-11 | 2022-05-10 | 杭州中策清泉实业有限公司 | Tire laser lettering robot and control method |
| CN114453759B (en) * | 2022-03-11 | 2023-09-05 | 杭州中策清泉实业有限公司 | Tire laser engraving robot and control method |
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