CN113657564B - Part dynamic following code spraying system and code spraying method thereof - Google Patents
Part dynamic following code spraying system and code spraying method thereof Download PDFInfo
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- CN113657564B CN113657564B CN202110819578.XA CN202110819578A CN113657564B CN 113657564 B CN113657564 B CN 113657564B CN 202110819578 A CN202110819578 A CN 202110819578A CN 113657564 B CN113657564 B CN 113657564B
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- 238000005507 spraying Methods 0.000 title claims abstract description 126
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 238000011179 visual inspection Methods 0.000 claims description 14
- 239000007921 spray Substances 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 238000013500 data storage Methods 0.000 claims description 3
- 230000003511 endothelial effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009954 braiding Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
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- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention relates to a part dynamic following code spraying system and a code spraying method thereof, wherein the code spraying system comprises a belt conveying line and an upper computer, the belt conveying line is distributed with parts to be sprayed with codes, two sides of the belt conveying line are respectively provided with a visual detection camera and a laser sensor, the visual detection cameras are distributed above the belt conveying line and shoot the belt conveying line vertically downwards, and the laser sensors are distributed perpendicular to the conveying direction of the belt conveying line and scan the parts along the horizontal direction; the belt conveyor line is distributed with trusses, the trusses are provided with high-speed spraying wharfs for spraying codes on parts, and encoders for collecting operation data are arranged between the vision detection cameras and the trusses; the invention can be compatible with parts with different heights and types, the whole system does not stop the whole process of the belt line in the code spraying process, the parts are transported in the assembly line all the time, the production beats are not occupied, and the final unloading and warehousing efficiency can be greatly improved.
Description
Technical Field
The invention relates to the field of part code spraying, in particular to a part dynamic following code spraying system and a code spraying method thereof.
Background
In the engineering machinery industry, a large number of metal parts are required to be used for welding a vehicle body, and most of the metal parts are parts and scraps of various shapes formed by cutting a whole steel plate by a cutting machine. The parts can be sorted to other belt lines through a robot sorting system and finally stacked and put in storage, the sorted parts are at a random unfixed position at the position of the belt lines, and a certain interval is arranged between the front part and the rear part of the parts, and the interval distance is unfixed. The variety of the processed parts is various, the parts of certain factories can reach tens of thousands at most, and at most tens of parts can be cut on one steel plate at most.
Because the part types are various, in the pile up neatly transfer region, material turnover personnel sort circulation according to material serial number and next circulation process. However, the sorting areas are too many, the material staff can not recognize the material codes of the parts, and the outline dimensions of many parts are only a few millimeters apart, so that the material staff can not observe the parts at all only by naked eyes. The manual sorting is to solve the problem, and part numbers and working procedures are written on the steel plate parts cut by the cutting machine according to the parts appearance on the cutting sleeve diagram and the positions corresponding to the drawings. As many parts as there are on a steel plate, it is definitely inconvenient for staff to bend down to squat down to repeat the work.
Disclosure of Invention
In order to solve the technical problems, the invention provides a part dynamic following code spraying system and a code spraying method thereof. The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the component dynamic following code spraying system comprises a belt conveying line and an upper computer, wherein components to be code sprayed are distributed on the belt conveying line, visual detection cameras and laser sensors are respectively arranged on two sides of the belt conveying line, the visual detection cameras are distributed above the belt conveying line and vertically shoot the belt conveying line downwards, and the laser sensors are distributed perpendicular to the conveying direction of the belt conveying line and scan the components along the horizontal direction;
the belt conveyor line is distributed with trusses, the trusses are provided with high-speed spraying wharfs for spraying codes on parts, and encoders for collecting operation data are arranged between the vision detection cameras and the trusses;
the visual inspection camera, the laser sensor and the encoder data are sent to the upper computer for processing, the upper computer sends the processed data to the truss, and the truss drives the high-speed spraying terminal to spray codes on the parts.
A code spraying method of a part dynamic following code spraying system comprises the following steps:
and (3) equipment installation: the visual inspection camera is arranged right above the left side of the belt conveyor line, the laser sensor is arranged on the right side of the belt conveyor line, the high-speed spraying wharf is fixed on the Z axis of the truss, and finally the encoder is arranged between the truss and the visual inspection camera;
and (3) software input: inputting the part information into an upper computer, and making a two-dimensional code basic template and a data source by code spraying software in the upper computer;
part calibration: calculating position coordinates, code spraying character strings and pulse numbers C required by the laser sensor to the spray head through a visual detection camera, a laser sensor and an encoder, establishing a plurality of structure groups for storing the position coordinates, the code spraying character strings and the pulse numbers C of corresponding parts, numbering the structure groups, and simultaneously establishing a stack for storing the structure group numbers, wherein the information is combined to form the structure groups to calibrate the code spraying positions of the spray head;
automatic code spraying: after the vision detection camera shoots, matching part data through the upper computer, sending the part data to the code spraying device, then, scanning data in a stack by the upper computer for matching, and automatically spraying codes after matching is completed.
The part calibration comprises the following steps:
the first step: setting a laser sensor threshold value to enable the laser sensor to cover a specified length;
and a second step of: one end of an extension rod is fixed at the tail end of the Z axis of the truss, the other end of the extension rod is fixed at the position of the laser sensor so as to combine with the vision detection camera to complete the hand-eye calibration work, and meanwhile, the length of the extension rod is recorded as L 1 ；
And a third step of: calibrating conversion relation between pulse number and length unit of encoder, C Pulse ＝a*l Distance of Wherein a is the resulting fixed constant, C Pulse To count the total number of encoder pulses in time, l Distance of Counting the actual advancing distance of the time endothelial belt conveying line;
fourth step: obtaining the number of pulses C=L required by the laser sensor to the spraying terminal according to the second step and the third step 1 *a；
Fifth stepStep (c) of: calibrating a code spraying position of a code spraying terminal on the surface of a belt conveyor line, and recording Z-axis data of the truss as h 0 ；
Sixth step: in order to prevent the part data from being covered, a stack capable of storing a plurality of part calibration information is established in the upper computer, and each stack corresponds to a structure group for storing the part calibration information data and marks the group number.
The automatic code spraying comprises a shooting and stacking process of shooting, matching and scanning data in a stack, a stacking and code spraying process of sending appointed data in the stack to a truss, and calculating an actual code spraying position to execute code spraying.
The photographing and stacking process comprises the following steps:
the first step: the parts are detected by the laser sensor when passing through the belt conveying line, a signal is sent to the upper computer, when the upper computer detects the rising edge, the encoder value at the moment is recorded as C by the vertical horse record and storage Temporary for the purpose of Triggering the visual detection camera to take a picture in a hard triggering mode;
and a second step of: after the vision detection camera collects pictures, the upper computer automatically matches part models, and the spraying position coordinates D of the parts on the belt line Temporary for the purpose of (x, y, h) and transmitting the coordinate information to the truss, wherein h is the thickness of the part in the system;
and a third step of: after the truss receives the information of the second step, the truss starts to scan the information in the stack, scans whether the stack has a data storage group number, if not, establishes a storage group number 1 in the first stack of the stack, and stores C Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of Integrally storing in a first stack to form a structural group;
fourth step: returning to the first step, continuing to scan to detect whether a new part is detected by the laser sensor, and if so, detecting C of the new part Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of The whole storage forms a new structure group in the free stack.
The pop code spraying process comprises the following steps:
the first step: always scan the group number stored in the first stack of the stack if the first stack storesIf the group number is 1, the data of the structure group 1 is taken out, the data of the structure group 1 is sent to a high-speed spraying wharf, and the high-speed spraying wharf converts the coordinates in the structure group 1 into actual motion coordinates D Actual practice is that of Triggering the truss to drive the high-speed spraying wharf to move to the actual movement coordinate position;
and a second step of: the part is transported by the belt conveyor when the position C of the encoder is to be actually achieved Actual practice is that of -C Temporary for the purpose of After the value is not equal to C, setting up Ma Chufa code spraying instruction, finishing code spraying instantly, executing one-time stack-stripping instruction, clearing the value in the first stack of the stack, and copying the data into the previous stack in sequence if the value in the latter stack is not 0;
and a third step of: the truss and the high-speed spraying wharf return to the waiting position to wait for the next code spraying coordinate instruction, and simultaneously continue to scan the group value stored in the first stack of the stack until the group value is zero.
The laser sensor beam height is 4mm from the belt conveyor, and the interval between the truss and the visual inspection camera is 2m.
The beneficial effects of the invention are as follows: the invention can be compatible with parts with different heights and types, the whole system does not stop the whole process of the belt line in the code spraying process, the parts are transported in the assembly line all the time, the production beats are not occupied, and the final unloading and warehousing efficiency can be greatly improved.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic diagram of a system structure according to the present invention.
The figure shows: 4. a laser sensor; 5. truss; 6. a high-speed spraying dock; 7. an encoder; 8. a belt conveyor line; 9. an upper computer; 10. and a visual inspection camera.
Detailed Description
In order to make the technical solution of the present invention better understood by a person skilled in the art, the present invention will be more clearly and more fully described below with reference to the accompanying drawings in the embodiments, and of course, the described embodiments are only a part of, but not all of, the present invention, and other embodiments obtained by a person skilled in the art without making any inventive effort are within the scope of the present invention.
As shown in fig. 1, the part dynamic following code spraying system comprises a belt conveying line 8 and an upper computer 9, wherein parts to be code sprayed are distributed on the belt conveying line, visual detection cameras 10 and laser sensors 4 are respectively arranged on two sides of the belt conveying line 8, wherein the visual detection cameras 10 are distributed above the belt conveying line 8 and vertically shoot the belt conveying line 8 downwards, and the laser sensors 4 are distributed perpendicular to the conveying direction of the belt conveying line 8 and scan the parts along the horizontal direction;
the belt conveyor line 8 is distributed with trusses 5, the trusses 5 are provided with high-speed spraying wharfs 6 for spraying codes on parts, and encoders 7 for collecting operation data are arranged between the vision detection cameras 10 and the trusses 5;
the vision detection camera 10, the laser sensor 4 and the encoder 7 are used for transmitting data to the upper computer 9 for processing, the upper computer 9 is used for transmitting the processed data to the truss, and the truss drives the high-speed spraying terminal to spray codes on the parts; the truss 5 is a Y, Z triaxial moving truss and is controlled by a PLC; the high-speed spraying wharf 6 is internally provided with code spraying software; the upper computer 9 comprises a computer, visual processing software and a code spraying position record database.
A code spraying method of a part dynamic following code spraying system comprises the following steps:
and (3) equipment installation: the visual inspection camera 10 is arranged right above the left side of the belt conveyor line 8, the laser sensor 4 is arranged right side of the belt conveyor line 8, the high-speed spraying wharf 6 is fixed on the Z axis of the truss 5, and finally the encoder 7 is arranged between the truss 5 and the visual inspection camera 10; the encoder 7 is arranged on the belt conveyor line 8 and keeps close contact with the belt conveyor line 8;
and (3) software input: inputting part information into an upper computer 9, and making a two-dimensional code basic template and a data source by code spraying software in the upper computer 9; the part information comprises cad drawing models of the parts and corresponding coding information;
part calibration: calculating position coordinates, code spraying character strings and pulse numbers C required by the laser sensor 4 to a spray head through a visual detection camera 10, a laser sensor 4 and an encoder 7, and establishing a stack for storing the position coordinates, the code spraying character strings and the pulse numbers C of a plurality of parts, wherein the information is combined to form a data set for calibrating the code spraying position of a spray terminal;
automatic code spraying: after the vision detection camera 10 shoots, the part data are matched through the upper computer 9 and sent to the code spraying device, then the upper computer 9 scans the data in the stack for matching, and automatic code spraying is carried out after the matching is completed.
The part calibration comprises the following steps:
the first step: setting a threshold value of the laser sensor 4, so that the laser sensor 4 covers a specified length, wherein the threshold value needs to cover most of the belt;
and a second step of: one end of an extension rod is fixed at the tail end of the Z axis of the truss 5, the other end of the extension rod is fixed at the position of the laser sensor 4 so as to combine the vision detection camera 10 to complete the hand-eye calibration work, and meanwhile, the length of the extension rod is recorded as L 1 The method comprises the steps of carrying out a first treatment on the surface of the Because the truss 5 is far away from the vision detection camera 10, the problem of hand-eye calibration is solved by selecting an extension rod;
and a third step of: scaling relation C of pulse number and length unit of calibration encoder 7 Pulse ＝a*l Distance of Wherein a is the resulting fixed constant, C Pulse To count the total number of encoder 7 pulses in time, l Distance of To count the distance that the endothelial belt conveyor line 8 actually advances; the fixed constant a passes through formula C Pulse ＝a*l Distance of Calculating to make the belt conveyor line 8 travel at a constant speed, counting the actual advancing distance of the belt conveyor line 8 in time, and counting the total number of pulses of the encoder 7 in time, and using the formula C Pulse ＝a*l Distance of Calculating a fixed constant a, wherein the fixed constant a changes along with the speed change of the belt conveyor line 8;
fourth step: obtaining the number of pulses c=l required by the laser sensor 4 to the spraying head according to the second and third steps 1 *a；
Fifth step: calibrating a code spraying position of a code spraying terminal from the surface of the belt conveyor line 8, and recording the height data of the truss 5Z axis at the moment as h 0 ；
Sixth step: in order to prevent the part data from being covered, a stack capable of storing a plurality of part calibration information is established in the upper computer 9, each stack corresponds to a structure group for storing the part calibration information data, and the group number is marked; because the space between the parts on the belt conveyor line 8 is short, the space between the visual inspection camera 10 and the truss 5 is large, and the shooting recognition is triggered again by the following part when the former part is not sprayed, so that the information of the former part can be covered by the information of the following part, a stack is designed in the upper computer 9 according to the first-in first-out principle, because the front-back distance of the three parts is larger than the distance between the visual inspection camera 10 and the center point of the high-speed spraying wharf 6, the number of the stacks is considered to be 3, and the stacks are used for storing the group numbers of the structural groups; the three stacks correspond to a structure group, and the structure group is used for storing information such as position coordinates, code spraying character strings, encoder numbers and the like.
Examples:
when the material is supplied in sequence at the beginning, the stacks sequentially store group numbers 1,2 and 3, and the group number of the first stack is 1. Respectively corresponding to a structure group 1, a structure group 2 and a structure group 3. If two parts are popped at the back and no new part is coming, the first stack and the second stack are empty, the third stack enters the first stack which is added in a supplementing mode, at the moment, the stacks only store the structure group 3, and the group number stored by the first stack is 3. At this time, if two pieces are added, the data set corresponding to the stack is changed to 3,1 and 2 in turn. Therefore, the stack data is changed according to actual conditions, and three groups of different data can be recorded in the structure group according to the structure group number stored in the stack.
The automatic code spraying comprises a shooting and stacking process of shooting, matching and scanning data in a stack of the parts, a stacking and code spraying process of sending appointed data in the stack to the truss 5 and calculating the actual code spraying position to execute code spraying.
The photographing and stacking process comprises the following steps:
the first step: the parts are detected by the laser sensor 4 when passing through the belt conveyor line 8, a signal is sent to the upper computer 9, and when the upper computer 9 detects the rising edge, the encoder 7 value at the moment is recorded and stored as C by the vertical horse Temporary for the purpose of At the same time by being hardTriggering the vision detection camera 10 to take pictures by a triggering mode;
and a second step of: after the vision detection camera 10 collects pictures, the upper computer 9 automatically matches the model of the part, and the code spraying position coordinates D of the part on the belt line Temporary for the purpose of (x, y, h) and send coordinate information to truss 5, where h is the thickness of the part in the system;
and a third step of: after receiving the information of the second step, truss 5 starts to scan the information in the stack, scans whether the stack has a data storage group number, if not, establishes storage group number 1 in the first stack of the stack, and stores C Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of The whole is stored in a first stack to form a structure group 1;
fourth step: returning to the first step, continuing to scan to detect whether a new part is detected by the laser sensor 4, and if so, detecting C Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of Integrally storing in an idle stack to form a new structure group; the part data which is newly scanned subsequently forms a new structure group and is stored in an idle stack, and after the part in the first stack executes a stacking and code spraying process, the part data is sequentially fed into the first stack in a repairing mode.
The pop code spraying process comprises the following steps:
the first step: the group number stored in the first stack of the stack is always scanned, if the group number stored in the first stack is 1, the data of the structure group 1 is taken out, the data of the structure group 1 is sent to the high-speed spraying wharf 6, and the high-speed spraying wharf 6 converts the coordinates in the structure group 1 into actual motion coordinates D Actual practice is that of Triggering the truss 5 to drive the high-speed spraying wharf 6 to move to the actual movement coordinate position; wherein D is Actual practice is that of The coordinates are (x, y, h+h) 0 ) The method comprises the steps of carrying out a first treatment on the surface of the The second stack and the third stack sequentially enter the first stack in a complementary way along with the ejection of the first stack, so that the first stored structure group number is always scanned;
the same can be said, if the group number stored in the first stack is 2 or 3, the data in the structure group 2 or the structure group 3 is fetched, and the group numbers are in one-to-one correspondence;
and a second step of: the parts are transported by a belt conveyor when the actual braiding is to be carried outEncoder position C Actual practice is that of -C Temporary for the purpose of After the value is not equal to C, setting up Ma Chufa code spraying instruction, finishing code spraying instantly, executing one-time stack-stripping instruction, clearing the value in the first stack of the stack, and copying the data into the previous stack in sequence if the value in the latter stack is not 0; thus, the push and pop are respectively executed once, and the data are balanced;
and a third step of: truss 5 and high-speed jetty 6 then return to the wait bit to wait for the next code-spraying coordinate instruction while continuing to scan the group value stored in the first stack of stacks until the group value is zero.
The laser sensor 4 beam height is 4mm from the belt conveyor, and the truss 5 is spaced 2m from the vision inspection camera 10.
First simulation run effect
The same workpiece is sequentially placed on a belt line to simulate the following blanking test data:
| model number | Successful code spraying | Repeat error of code spraying position |
| A | Is that | ±15mm |
| B | Is that | ±11mm |
Through analysis, the system has very high requirements on consistency of the two actions of recording the encoder value at the moment that the sensor detects the workpiece and triggering the camera to successfully shoot. The original system truss plc triggering camera shooting is performed by a modbusTCP mode, the triggering interval period is 500ms, but the belt line speed is 126mm/s, so that the time for receiving a shooting instruction by an actual camera is not fixed, and the code spraying position is located at the front and back. And then the shooting time is fixed by being transformed into a hardware wiring triggering mode.
Second simulation run effect
| Model number | Successful code spraying | Repeat error of code spraying position |
| A | Is that | ±3mm |
| B | Is that | +1mm |
The precision of the test result after transformation is very good, the actual line test is carried out, the code spraying effect of the part with standard appearance is better, the repetition precision is less than +/-3 mm, the precision of the part with unique appearance is slightly poor, and the maximum precision is not more than +/-5 mm. This precision fully meets the requirements of earlier designs.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The code spraying method of the part dynamic following code spraying system comprises a belt conveying line and an upper computer, wherein the part dynamic following code spraying system comprises parts to be sprayed, visual detection cameras and laser sensors are respectively arranged on two sides of the belt conveying line, the visual detection cameras are distributed above the belt conveying line and shoot the belt conveying line vertically downwards, and the laser sensors are distributed perpendicular to the conveying direction of the belt conveying line and scan the parts in the horizontal direction;
the belt conveyor line is distributed with trusses, the trusses are provided with high-speed spraying wharfs for spraying codes on parts, and encoders for collecting operation data are arranged between the vision detection cameras and the trusses;
the visual inspection camera, the laser sensor and the encoder data are sent to the upper computer for processing, the upper computer sends the processed data to the truss, and the truss drives the high-speed spraying terminal to spray codes on parts, and the visual inspection camera, the laser sensor and the encoder data are characterized in that: the method comprises the following steps:
and (3) equipment installation: the visual inspection camera is arranged right above the left side of the belt conveyor line, the laser sensor is arranged on the right side of the belt conveyor line, the high-speed spraying wharf is fixed on the Z axis of the truss, and finally the encoder is arranged between the truss and the visual inspection camera;
and (3) software input: inputting the part information into an upper computer, and making a two-dimensional code basic template and a data source by code spraying software in the upper computer;
part calibration: calculating position coordinates, code spraying character strings and pulse numbers C required by the laser sensor to the spray head through a visual detection camera, a laser sensor and an encoder, establishing a plurality of structure groups for storing the position coordinates, the code spraying character strings and the pulse numbers C of corresponding parts, numbering the structure groups, and simultaneously establishing a stack for storing the structure group numbers, wherein the information is combined to form the structure groups to calibrate the code spraying positions of the spray head;
automatic code spraying: matching part data through an upper computer after the vision detection camera shoots, sending the part data to a code sprayer, then, scanning data in a stack by the upper computer for matching, and automatically spraying codes after matching is completed;
the part calibration comprises the following steps:
the first step: setting a laser sensor threshold value to enable the laser sensor to cover a specified length;
and a second step of: one end of an extension rod is fixed at the tail end of the Z axis of the truss, the other end of the extension rod is fixed at the position of the laser sensor so as to combine with the vision detection camera to complete the hand-eye calibration work, and meanwhile, the length of the extension rod is recorded as L 1 ；
And a third step of: calibrating conversion relation between pulse number and length unit of encoder, C Pulse ＝a*l Distance of Wherein a is the resulting fixed constant, C Pulse To count the total number of encoder pulses in time, l Distance of Counting the actual advancing distance of the time endothelial belt conveying line;
fourth step: obtaining the number of pulses C=L required by the laser sensor to the spraying terminal according to the second step and the third step 1 *a；
Fifth step: calibrating a code spraying position of a code spraying terminal on the surface of a belt conveyor line, and recording Z-axis data of the truss as h 0 ；
Sixth step: in order to prevent the part data from being covered, a stack capable of storing a plurality of part calibration information is established in the upper computer, and each stack corresponds to a structure group for storing the part calibration information data and marks the group number.
2. The code spraying method of the part dynamic following code spraying system according to claim 1, wherein the code spraying method comprises the following steps: the automatic code spraying comprises a shooting and stacking process of shooting, matching and scanning data in a stack, a stacking and code spraying process of sending appointed data in the stack to a truss, and calculating an actual code spraying position to execute code spraying.
3. The code spraying method of the part dynamic following code spraying system according to claim 2, wherein the code spraying method comprises the following steps: the photographing and stacking process comprises the following steps:
the first step: the parts are detected by the laser sensor when passing through the belt conveying line, a signal is sent to the upper computer, when the upper computer detects the rising edge, the encoder value at the moment is recorded as C by the vertical horse record and storage Temporary for the purpose of Triggering the visual detection camera to take a picture in a hard triggering mode;
and a second step of: after the vision detection camera collects pictures, the upper computer automatically matches part models, and the spraying position coordinates D of the parts on the belt line Temporary for the purpose of (x, y, h) and transmitting the coordinate information to the truss, wherein h is the thickness of the part in the system;
and a third step of: after the truss receives the information of the second step, the truss starts to scan the information in the stack, scans whether the stack has a data storage group number, if not, establishes a storage group number 1 in the first stack of the stack, and stores C Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of Integrally storing in a first stack to form a structural group;
fourth step: returning to the first step, continuing to scan to detect whether a new part is detected by the laser sensor, and if so, detecting C of the new part Temporary for the purpose of 、D Temporary for the purpose of 、S Temporary for the purpose of The whole storage forms a new structure group in the free stack.
4. The code spraying method of the part dynamic following code spraying system according to claim 2, wherein the code spraying method comprises the following steps: the pop code spraying process comprises the following steps:
the first step: the group number stored in the first stack of the stack is always scanned, if the group number stored in the first stack is 1, the data of the structure group 1 is taken out, the data of the structure group 1 is sent to a high-speed spraying wharf, and the high-speed spraying wharf converts the coordinates in the structure group 1 into actual motion coordinates D Actual practice is that of Triggering the truss to drive the high-speed spraying wharf to move to the actual movement coordinate position;
and a second step of: the part is transported by the belt conveyor when the position C of the encoder is to be actually achieved Actual practice is that of -C Temporary for the purpose of After being more than or equal to C, the Ma Chufa code spraying instruction is erected, the code spraying is finished instantly, and the code spraying is executed simultaneouslyA pop instruction is used for clearing values in a first stack of the stack, and if the value in a later stack is not 0, the data are copied into the previous stack in sequence;
and a third step of: the truss and the high-speed spraying wharf return to the waiting position to wait for the next code spraying coordinate instruction, and simultaneously continue to scan the group value stored in the first stack of the stack until the group value is zero.
5. The code spraying method of the part dynamic following code spraying system according to claim 1, wherein the code spraying method comprises the following steps: the laser sensor beam height is 4mm from the belt conveyor, and the interval between the truss and the visual inspection camera is 2m.
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