CN111098316B - Laser recording and reading equipment and method for two-dimension codes on surface of hub - Google Patents
Laser recording and reading equipment and method for two-dimension codes on surface of hub Download PDFInfo
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- CN111098316B CN111098316B CN202010015250.8A CN202010015250A CN111098316B CN 111098316 B CN111098316 B CN 111098316B CN 202010015250 A CN202010015250 A CN 202010015250A CN 111098316 B CN111098316 B CN 111098316B
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses laser recording and reading equipment 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 a mechanical part for centering, jacking and rotating. Firstly, centering, jacking and rotating the hub, acquiring rotary hub surface character information by a 3D recognition camera, and judging wheel type information of the hub by a control system. The robot clamps the hub to take a picture of the flange plate in the hub, the rotation angle is calculated by comparing the characteristic points with the standard positions, the robot drives the hub to rotate, and the two-dimensional code recording position is determined. 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 the equipment work. The method has the advantages of good stability and high identification rate, is suitable for the two-dimensional code recording and reading of the hubs of different wheels, and can meet the requirements of a hub production factory on the supervision of the hub production process and the traceability of hub information.
Description
Technical Field
The invention relates to the field of automatic mechanical machining of 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 requirements on the accurate traceability of the hub information are stronger, and at present, the aspects of laser recording and reading of two-dimensional codes on the surface of the hub at home and abroad have certain corresponding products and technical development, for example, chinese patent CN201210475956.8 discloses a hub coding system which is suitable for hubs with different sizes. Chinese patent cn201320464624.X discloses a coding machine, wherein the coding machine body is provided with an ink box and a guide rail, and the guide rail is provided with a coding device. Chinese patent No. cn201410022300.X discloses a coding machine, which comprises a machine platform for carrying a piece to be coded and a position detection device for detecting the position of the piece to be coded, wherein the coding machine further comprises a position adjustment device for adjusting the position of the piece to be coded, and when the position detection device detects that the piece to be coded arranged on the machine platform deviates from a preset position, the position adjustment device can move the piece to be coded to the preset position. Chinese patent CN201510619315.9 discloses a laser on-line efficient etching and product anti-counterfeiting tracing system applied to steel, which is characterized in that: the anti-fake system comprises a data encryption system, a laser coding system, a data storage system and an anti-fake inquiry system, wherein the laser coding system etches the formed encrypted two-dimensional code on steel materials by adopting laser, and the authenticity of a product is judged by identifying the two-dimensional code.
However, the above devices and methods have limitations to different degrees at present, and there is no mature technical solution and forming device for distinguishing various wheel-type different molds.
Disclosure of Invention
In order to solve the technical problems, the invention provides a laser recording and reading device and a laser recording and reading method for a two-dimensional code on the surface of a hub, which have the capability of accurately identifying information of different wheel types, different dies and the like, and can stably and rapidly process the hub on a production line. The working flow of the equipment is refined, the system works step by step to realize a 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:
the two-dimensional code recording and reading equipment for the surface of the hub comprises a hub circulation roller way, a hub centering device, a jacking device, a rotating device, a 3D (three-dimensional) 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 at one side of the 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 hub circulation roller way, the installation height of the jacking device is lower than the upper surface of the hub circulation roller way, the hub centering positioning device is positioned on the hub circulation roller way, and the two sides of the jacking device are provided with the jacking device;
the 3D recognition device is fixed on one side of the hub transfer roller way far away from the industrial robot;
the device comprises a 2D identification device, a focal length confirmation device, a two-dimensional code laser recording device, a two-dimensional code reading device and a 2D identification device, wherein the two-dimensional code reading device is integrally arranged on an electrical control cabinet on one side, far away from an industrial robot, of a hub circulation roller way, the 2D identification device, the focal length confirmation device and the two-dimensional code laser recording device are arranged in a mode that the centers of the two-dimensional code reading devices are kept on the same horizontal line, the two-dimensional code laser recording device is used for recording two-dimensional codes on a hub according to preset settings, the focal length confirmation device is used for verifying the distance between a laser recorder and the surface of the hub, the two-dimensional code reading device is used for reading and verifying after the two-dimensional code recording is completed, and the 2D identification device is used for photographing and searching characteristic points after the hub reaches an identification area of the characteristic 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 identifying device is a 3D camera, the 2D identifying device is a 2D camera, the focal length confirming device is a laser sensor, the two-dimensional code laser burning device is a laser burning device, 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 centering and positioning holding claw, and the clamping and loosening state of the hub is monitored.
Preferably, the 3D camera is fixed on one side of the hub running roller way far away from the industrial robot by a metal bracket, the mounting height of the camera is consistent with the height of the character of the outer rim after the hub is lifted, and the mounting angle can be adjusted.
Preferably, the 3D camera recognizes the wheel model and the mold number of the wheel hub by recognizing characters on the outer rim of the wheel hub.
Preferably, the 2D camera identifies the characteristic 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 the hub wheel lip through a clamping and unclamping action, and achieves a large-range displacement of the hub.
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 two-dimensional code recording and reading equipment on the surface of the hub, which is designed by the invention, comprises the following steps:
(1) Identification of the wheel hub: after the hub enters the laser recording working area, the hub is centered by the hub centering device, the centered hub is jacked up by the jacking device, the hub is driven to rotate 180 degrees by the rotating device, the 3D recognition camera beside the roller table collects the character information of the surface of the rotating hub, and the control system judges the wheel type information of the hub by processing the collected character information.
(2) Determining the coding position: the six-axis industrial robot clamps the hub to take a picture of the flange plate in the hub, finds out the characteristic point of the characteristic point and compares the characteristic point with the standard position, calculates the rotation angle, and the six-axis industrial robot drives the hub to rotate to determine the two-dimensional code recording position.
(3) Recording and reading two-dimensional codes: after the six-axis industrial robot drives the hub to reach the two-dimensional code recording position, the control system triggers a code recording signal, the two-dimensional code laser recording device starts recording the two-dimensional code on the hub according to preset settings, the robot drives the hub to reach the code reading position after the recording is completed, the two-dimensional code reading device recognizes the recorded two-dimensional code, and the recognition 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 identifying device is a 3D camera, the 2D identifying device is a 2D camera, the focal length confirming device is a laser sensor, the two-dimensional code laser burning device is a laser burning device, and the two-dimensional code reading device is a code reading camera.
Preferably, two identification locations are included:
1. recognizing characters on an outer rim of the hub through a 3D camera to recognize the wheel model and the mould number of the hub;
2. and identifying characteristic points in the flange plate in the hub through a 2D camera to determine the recording position of the two-dimensional code.
Preferably, the characters on the outer rim of the hub and the characteristic points on the inner flange are formed by casting with a low pressure casting machine, and the characters and the characteristic points have specific specification requirements or characteristics so as to be convenient for identification.
Preferably, in the step (1), the 3D camera continuously collects specific characters on the surface of the outer rim by transmitting and receiving a bar-shaped light beam in the process of rotating the hub, and the system identifies the collected characters to generate 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 clamping claw clamps, and when the electromagnetic valve detects that the hub centering clamping claw pressure reaches a set value, the hub centering clamping claw is opened to finish centering;
preferably, in the step (1), the lifting cylinder lifts the cross iron frame above, the lifting and descending actions of the cross iron frame are controlled by the cylinder, when the system detects that the central positioning claw holding actions of the hub are finished, the cylinder lifts the cross iron frame, and when the system detects that the reversing signals of the servo motor are finished, the cylinder drives the cross iron frame to descend, so that the lifting and descending actions are finished;
preferably, in the step (1), the servo motor is connected with the cross iron frame to drive the hub to rotate, when the system detects that the jacking action is finished, the servo motor starts to rotate clockwise, and when the system detects that the robot takes a material signal, the servo motor starts to rotate anticlockwise to the original position to finish the rotating action;
preferably, in the step (1), the angle of the 3D camera fixed beside the roller way by the bracket is adjustable, and the mounting height of the 3D camera is consistent with the height of the characters on the outer rim after the hub is lifted.
Preferably, in the step (2), the step of determining the recording position includes: after the hub reaches the identification area of the characteristic points by the 2D camera, the 2D camera shoots and searches the characteristic points, displacement values of the characteristic points of different wheel types and the two-dimensional code recording positions are preset in the control system, the control system judges whether the two-dimensional code recording positions are in an allowable range according to the displacement values, if the two-dimensional code recording positions are not in the allowable range, the control system calculates according to the characteristic point positions and adjusts the hub positions, the 2D camera shoots and searches the process, and the judging process is repeated;
when the control system judges that the two-dimensional code recording position is within the allowable range, the hub moves to the next working procedure position, 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 hubs is larger than 180 degrees, the robot places the hubs at the roller way blanking position and outputs a code recording failure signal.
Preferably, in the step (3), the recording focal length confirmation step is as follows: when the hub reaches the focus confirming position, the laser sensor measures the focus signal, and when the measurement result is not in the allowable range of focus, the control system adjusts the distance between the hub and the laser recorder according to the measurement result, the laser sensor measures the focus signal again after the adjustment is finished, the measurement result is not in the allowable range of focus, the robot places the hub at the lower position of the roller way, outputs the recording failure signal, the measurement result is in the allowable range of focus, the hub moves to the laser recording confirming position to start laser recording work, the hub reaches the code reading position after the recording is finished, and the code reading camera reads the recorded two-dimensional code information.
Particularly, in the invention, the hub centering device, the jacking device and the rotating device mainly realize uniform rotation of the hub along the center of the shaft, the 3D camera synchronously collects images of the surface of the hub in the rotating process, and the system identifies characters on the outer rim and judges wheel type information and die information by analyzing the images. The system stores a series of information corresponding to the wheel type, including the height of the wheel hub, the thickness of the wheel lip, the position of the weight reduction nest and the like, and the system can adjust the action of the robot according to the wheel type of the wheel hub and the corresponding wheel type information; the system can also generate corresponding two-dimensional code codes according to the judged wheel type. The two-dimensional code recording and reading equipment on the surface of the hub adopts a six-axis industrial robot to realize various actions of the hub. After the wheel type identification is completed, the system can send an action instruction to the six-axis industrial robot, and the robot gets the material point to grasp the hub wheel lip through the clamping jaw of the cylinder, so that the purpose that the six-axis robot drives the hub to displace in a large range is realized. The method comprises the steps that a hub firstly reaches a hub recording position identification area, a 2D camera photographs a flange plate in the hub, a system identifies images, characteristic points on the flange plate are found, the characteristic points and two-dimensional code recording positions have a determined displacement relation, different wheel types correspond to different displacement relations, and the system can send action instructions to a robot according to the deviation between the positions of the characteristic points and set positions when the wheel types are analyzed and photographed, so that position adjustment is completed; after one adjustment, the system sends an instruction to photograph, judge and adjust, wherein the instruction of the adjustment completion is that the characteristic points reach the set region range, and the instruction of the adjustment failure is that the 2D camera photograph can not find the characteristic points or the system judges that the sum of the absolute values of the accumulated rotation angles of the hubs is larger than 180 degrees. After the characteristic points in the flange plate of the hub reach the set area range, the robot acts on the hub to reach the focus confirming position, the laser sensor measures the focus signal, when the measurement result is not in the allowable range of the focus, the system adjusts the distance between the hub and the laser recorder according to the measurement result, the laser sensor measures the focus signal again after the adjustment is finished, the measurement result is not in the allowable range of the focus, the robot places the hub at the position of the roller way blanking position, the output of the marking failure signal, the measurement result is in the allowable range of the focus, 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 finished, 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 coding equipment, the two-dimensional code recording and reading equipment on the surface of the hub has the advantages that the identification function is added, the recorded two-dimensional code contains more information, and the accurate traceability of the hub information is realized.
3. The structure of the flange surface in the hub is complex, the area range for two-dimensional code recording is limited, the two-dimensional code recording and reading equipment on the surface of the hub can accurately position 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 diagram of a laser recording and reading device for a two-dimensional code on the surface of a hub.
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 writer and an 8-2D identification camera.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
As shown in fig. 1, the two-dimensional code recording and reading equipment for the surface of the hub 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 4,2D 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 of the roller way far away from the industrial robot by a metal bracket, the mounting height of the 3D camera is consistent with the height of the characters on the outer rim after the wheel hub is lifted, and the mounting angle is adjustable, so that the wheel model and the mould number of the wheel hub are identified by identifying the characters on the outer rim of the wheel hub;
the hub centering holding claw 2 is connected with a cylinder and an electromagnetic valve below, monitors the clamping and loosening state of the hub centering holding claw, and is positioned on a hub circulation roller way and at two sides of the jacking device;
the surface of the jacking cross iron frame 3 is provided with threads, the installation height is lower than the upper surface of the roller way, and the threads can increase friction with the wheel hub during jacking rotation, so that the cross iron frame and the wheel hub can synchronously rotate;
the six-axis industrial robot 4 is positioned at one side of the hub circulation roller way, and the main working area is positioned right above the roller way; the hub lip is grasped through the clamping and loosening actions, so that the displacement of the hub in a large range is realized.
The code reading camera 5 is used for reading and checking after the two-dimensional code is recorded, and the installation positions are on the same horizontal line behind the laser recorder;
a laser sensor 6 for checking the distance between the laser recorder and the surface of the hub; the laser recorder 7 is installed to ensure the accuracy of the measurement result of the laser sensors, wherein the distance between the laser sensors is required to be as small as possible;
the 2D camera 8 ensures that the centers of the laser sensor, the laser writer and the code reading camera are kept on the same horizontal line, and the 2D camera determines the writing position of the two-dimensional code by identifying the 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 (8)
1. The method for recording and reading the two-dimensional code on the surface of the hub is characterized by adopting two-dimensional code recording and reading equipment on the surface of the hub, and the method comprises a hub circulation roller way, a hub centering device, a jacking device, a rotating device, a 3D identifying device, a six-axis industrial robot, a 2D identifying device, a focal length confirming 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 at one side of the 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 device is positioned on the hub circulation roller way, and two sides of the jacking device are provided with a plurality of positioning devices;
the 3D recognition device is fixed on one side of the hub transfer roller way far away from the industrial robot;
the device comprises a 2D identification device, a focal length confirmation device, a two-dimensional code laser recording device and a two-dimensional code reading device, wherein the two-dimensional code reading device is integrally arranged on an electrical control cabinet at one side of a hub circulation roller way far away from an industrial robot, the 2D identification device, the focal length confirmation device and the two-dimensional code laser recording device are arranged in a way that the centers of the two-dimensional code reading devices 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 settings, the focal length confirmation device is used for verifying the distance between a laser recorder and the surface of the hub, the two-dimensional code reading device is used for reading and verifying after the two-dimensional code recording is completed, and the 2D identification device is used for photographing and searching characteristic points after the hub reaches an identification area of the characteristic points;
the wheel hub centering device is a wheel hub centering claw, the jacking device is a jacking cross iron frame, the rotating device is a servo motor, the 3D identifying device is a 3D camera, the 2D identifying device is a 2D camera, the focal length confirming device is a laser sensor, the two-dimensional code laser burning device is a laser burning device, and the two-dimensional code reading device is a code reading camera;
the method comprises the following steps:
(1) Identification of the wheel hub: after the hub enters the laser recording working area, the hub is centered by a hub centering device, the centered hub is jacked by a jacking device, the hub is driven to rotate 180 degrees by a rotating device, a 3D recognition camera positioned beside a roller way collects the rotating hub surface character information, and a control system judges the wheel type information of the hub by processing the collected character information;
(2) Determining the coding position: the six-axis industrial robot clamps the hub to take a picture of the flange plate in the hub, finds out a characteristic point of the characteristic point and compares the characteristic point with a standard position, calculates a rotation angle, and drives the hub to rotate to determine a two-dimensional code recording position;
(3) Recording and reading two-dimensional codes: after the six-axis industrial robot drives the hub to reach the two-dimensional code recording position, the control system triggers a code recording signal, the two-dimensional code laser recording device starts recording the two-dimensional code on the hub according to preset settings, the robot drives the hub to reach the code reading position after the recording is completed, the two-dimensional code reading device recognizes the recorded two-dimensional code, and the recognition result is output to complete equipment work.
2. The method for recording and reading the two-dimensional code on the surface of the hub according to claim 1, wherein the surface of the jacking cross iron frame is provided with threads, and a cylinder and an electromagnetic valve which are connected with the hub are arranged below the hub centering holding claw, so that the clamping and loosening states of the hub are monitored.
3. The method for recording and reading the two-dimensional code on the surface of the wheel hub according to claim 2, wherein the 3D camera is fixed on one side of a wheel hub running roller way far away from an industrial robot by a metal bracket, the installation height of the camera is kept consistent with the height of an outer rim character after the wheel hub is lifted, the installation angle can be adjusted, and the 3D camera can identify the wheel model and the mould number of the wheel hub by identifying the character on the outer rim of the wheel hub.
4. The method for recording and reading the two-dimensional code on the surface of the hub according to claim 2, wherein the 2D camera is used for determining the recording position of the two-dimensional code by identifying characteristic points in a flange plate in the hub, and the control system is composed of an industrial personal computer and a PLC (programmable logic controller) industrial circuit and is used for monitoring various signals and sending action instructions.
5. The method for two-dimensional code recording and reading on a hub surface according to claim 1, comprising two identification locations:
1) Recognizing characters on an outer rim of the hub through a 3D camera to recognize the wheel model and the mould number of the hub;
2) Identifying characteristic points in a flange plate in the hub through a 2D camera to determine the recording position of the two-dimensional code;
characters on the outer rim of the hub and characteristic points on the inner flange are formed when the hub is cast by a low-pressure casting machine, and the characters and the characteristic points have specific specification requirements or characteristics so as to be convenient to identify.
6. The method for recording and reading the two-dimensional code on the surface of the wheel hub according to claim 1, 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 rotating process of the wheel hub, and the system recognizes 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 clamping claw clamps, and when the electromagnetic valve detects that the hub centering clamping claw pressure reaches a set value, the hub centering clamping claw is opened to finish centering;
in the step (1), the lifting cylinder lifts the cross iron frame above, the lifting and descending actions of the cross iron frame are controlled by the cylinder, when the system detects that the central positioning claw holding actions of the hub are finished, the cylinder lifts the cross iron frame, and when the system detects that the reversing signals of the servo motor are finished, the cylinder drives the cross iron frame to descend, so that the lifting and descending actions are finished;
in the step (1), a servo motor is connected with a cross iron frame to drive a hub to rotate, when the system detects that the lifting action is finished, the servo motor starts to rotate clockwise, and when the system detects that the robot takes a material signal, the servo motor starts to rotate anticlockwise to the original position to finish the rotating action;
in the step (1), the angle of the 3D camera fixed beside the roller way by the bracket 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 lifted.
7. The method for recording and reading two-dimensional codes on a hub surface according to claim 1, wherein in the step (2), the recording position confirmation step is as follows: after the hub reaches the identification area of the characteristic points by the 2D camera, the 2D camera shoots and searches the characteristic points, displacement values of the characteristic points of different wheel types and the two-dimensional code recording positions are preset in the control system, the control system judges whether the two-dimensional code recording positions are in an allowable range according to the displacement values, if the two-dimensional code recording positions are not in the allowable range, the control system calculates according to the characteristic point positions and adjusts the hub positions, the 2D camera shoots and searches the process, and the judging process is repeated;
when the control system judges that the two-dimensional code recording position is within the allowable range, the hub moves to the next working procedure position, 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 hubs is larger than 180 degrees, the robot places the hubs at the roller way blanking position and outputs a code recording failure signal.
8. The method for recording and reading two-dimensional codes on a hub surface according to claim 7, wherein in the step (3), the recording focal length confirmation step is as follows: when the hub reaches the focus confirming position, the laser sensor measures the focus signal, and when the measurement result is not in the allowable range of focus, the control system adjusts the distance between the hub and the laser recorder according to the measurement result, the laser sensor measures the focus signal again after the adjustment is finished, the measurement result is not in the allowable range of focus, the robot places the hub at the lower position of the roller way, outputs the recording failure signal, the measurement result is in the allowable range of focus, the hub moves to the laser recording confirming position to start laser recording work, the hub reaches the code reading position after the recording is finished, and the code reading camera reads the recorded two-dimensional code information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010015250.8A CN111098316B (en) | 2020-01-07 | 2020-01-07 | Laser recording and reading equipment and method for two-dimension codes on surface of hub |
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| CN202010015250.8A CN111098316B (en) | 2020-01-07 | 2020-01-07 | Laser recording and reading equipment and method for two-dimension codes on surface of hub |
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| CN111098316A CN111098316A (en) | 2020-05-05 |
| CN111098316B true CN111098316B (en) | 2023-09-15 |
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| CN113352780A (en) * | 2021-06-18 | 2021-09-07 | 天津开发区精诺瀚海数据科技有限公司 | Multidirectional hub coding device for rapid production transfer |
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