CN114083140B - Laser and spraying cooperative multi-mode marking method and device - Google Patents
Laser and spraying cooperative multi-mode marking method and device Download PDFInfo
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- CN114083140B CN114083140B CN202210039688.9A CN202210039688A CN114083140B CN 114083140 B CN114083140 B CN 114083140B CN 202210039688 A CN202210039688 A CN 202210039688A CN 114083140 B CN114083140 B CN 114083140B
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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
- 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
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/01—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for special character, e.g. for Chinese characters or barcodes
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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
- 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
- B41J3/413—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material for metal
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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
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions
- B41J3/445—Printers integrated in other types of apparatus, e.g. printers integrated in cameras
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a laser and spraying cooperative multi-mode marking method and device, and belongs to the technical field of metallurgy automation methods and devices. The technical scheme of the invention is as follows: the industrial network is connected with the robot and the laser coding machine, when a steel coil in-place instruction is received, the coding information acquired from the steel mill MES system is transmitted to the laser coding machine or the spraying machine, and after the robot is positioned by the laser, coding is started. The invention has the beneficial effects that: the automatic ranging of robot is from independent location after can realizing that the coil of strip targets in place, and flexible auto focus realizes high accuracy according to selecting automatic switch-over laser and spraying two kinds of modes and beats the sign indicating number, can replace the manual work completely and beat the sign indicating number, and the sign indicating number time of beating of every coil of hot rolled steel is no longer than 30s to the bar code of beating and two-dimensional code can be by accurate discernment.
Description
Technical Field
The invention relates to a laser and spraying cooperative multi-mode marking method and device, and belongs to the technical field of metallurgy automation methods and devices.
Background
In the production process of the hot rolled steel coil, in order to facilitate manufacturers to track the product quality and enable users to know the relevant information of the product, the product is generally marked with a code before leaving the factory to indicate the production code, the product specification, the material, the quality, the furnace number of the steel, the production date and the like. The traditional hot rolled steel coil production line generally adopts manual coding, and after the hot rolled steel coil moves along with the conveyer belt, the coding machine is carried by steel mill staff to carry out on-site coding. The method seriously influences the production efficiency of the hot rolled steel coils, and can also cause the printing of wrong codes, biased codes and even more serious codes to some steel coils in the printing process due to the long-time labor of staff, thereby causing the incapability of tracking the product information of the coils, causing huge economic loss to steel mills due to the problems, and causing quite severe working environment on site due to the high temperature of the steel coils, thereby increasing the potential safety hazard of the staff.
Disclosure of Invention
The invention aims to provide a laser and spraying cooperative multi-mode marking method and a device, wherein the method and the device are connected with a robot and a laser coder through an industrial network, after a steel coil in-place instruction is received, coded information acquired from an MES system of a steel mill is transmitted to the laser coder or a spraying machine, coding is started after the robot is positioned by using a laser, automatic ranging and automatic positioning of the robot and flexible automatic focusing can be realized after the steel coil is in place, high-precision coding can be realized by automatically switching the laser and spraying modes according to selection, manual coding can be completely replaced, the coding time of each coil of hot rolled steel is not more than 30s, and the coded bar code and a two-dimensional code can be accurately identified, so that the problems in the background technology are effectively solved.
The technical scheme of the invention is as follows: a laser and spraying cooperative multi-mode marking method comprises the following steps: determining a steel coil coding mode, a spraying coding mode or laser marking; transmitting the coding information of the MES system of the steel mill to an upper computer, manually selecting the coding information on an industrial personal computer, and transmitting the coding data to a laser coding machine or a spraying machine; step three, waiting for a code printing starting signal by a laser code printing machine or a spraying machine, stopping a conveyor belt after a steel coil moves to a designated position, and receiving a movement signal by a robot to prepare for starting movement; moving the robot to a fixed measuring position, opening a laser, measuring the end surface position of the steel coil, and then measuring the diameter of the steel coil; after the measurement is finished, the internal system of the robot calculates the result and determines the code printing position; integrating the laser coding machine and the spraying machine together and installing the laser coding machine and the spraying machine on the robot, moving the robot to the starting point of the coding position, and starting coding or spraying; and step (c), after the code printing or spraying action is finished, the robot returns to the original point and transmits a finishing signal to the upper computer, and the industrial personal computer and the code printing machine empty finished code forming information and wait for information to prepare the next code to be printed.
And in the second step, the mode of transmitting the coding information of the MES system of the steel mill to the upper computer is that an operator manually inputs a code to be printed on the industrial personal computer.
And in the second step, the code information of the steel mill MES system is transmitted to the upper computer in a mode of communicating with the steel mill MES system through a PROFIBUS-DP protocol to obtain the code from the database.
The robot is used for executing searching, positioning and coding actions, the robot can automatically search and code the steel coil, the robot is guaranteed not to have singularities, coding movement tracks are accurately designed according to the assistance of laser equipment, the repeated positioning precision of the robot is controlled within 0.5mm, and the full-flow coding requirement is met.
The two-dimensional codes with the same size and different sizes are marked on steel coils with different diameters and different temperatures, so that the two-dimensional code coding mode of the laser identification is effectively realized under different curvatures and different temperatures.
A laser and spraying cooperative multi-mode marking device comprises a robot, a spraying machine, a laser coding machine, a travel switch and an upper computer, wherein the robot comprises a mechanical arm base, a mechanical arm and a robot control cabinet, and the mechanical arm is arranged on the mechanical arm base; the spraying machine and the laser coding machine are arranged at the front end of the mechanical arm, the laser coding machine is provided with a protective cover, four travel switches are arranged at the front end of the laser coding machine, and the travel switches are connected with the robot and used for the robot to determine a coding position; the upper computer is connected with the robot through the robot control cabinet and is connected with the laser coding machine.
The robot has a load of 150-300 kg and a working range of 2.6-3.2 meters.
The coating machine comprises a spray printing head, a paint circulating system, a paint cabinet, a liquid level sensor, a temperature sensor, a pressure sensor, a cleaning circulating system, a paint bucket, a stirrer, a pipeline system and a control system.
The invention has the beneficial effects that: establish through industrial network and robot and laser coding ware and be connected, after receiving the coil of strip instruction that targets in place, the coding information conveying that will acquire from steel mill MES system is to laser coding machine or flush coater, after the robot utilizes the laser instrument location, begin to beat the sign indicating number, can realize coil of strip and target in place back robot automatic ranging from the main positioning, flexible auto focus, realize high accuracy according to selecting automatic switch-over laser and spraying two kinds of modes and beat the sign indicating number, can replace the manual work completely and beat the sign indicating number, the time of beating the sign indicating number of every coil of hot rolled steel is no longer than 30s, and the bar code and the two-dimensional code of beating can be by accurate discernment.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of the operation of the present invention;
in the figure: mechanical arm base 1, mechanical arm 2, flush coater 3, laser coding machine 4, coil of strip 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments, and it is obvious that the described embodiments are a small part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
A laser and spraying cooperative multi-mode marking method comprises the following steps: determining a steel coil coding mode, a spraying coding mode or laser marking; transmitting the coding information of the MES system of the steel mill to an upper computer, manually selecting the coding information on an industrial personal computer, and transmitting the coding data to a laser coding machine or a spraying machine; step three, waiting for a code printing starting signal by a laser code printing machine or a spraying machine, stopping a conveyor belt after a steel coil moves to a designated position, and receiving a movement signal by a robot to prepare for starting movement; moving the robot to a fixed measuring position, opening a laser, measuring the end surface position of the steel coil, and then measuring the diameter of the steel coil; after the measurement is finished, the internal system of the robot calculates the result and determines the code printing position; integrating the laser coding machine and the spraying machine together and installing the laser coding machine and the spraying machine on the robot, moving the robot to the starting point of the coding position, and starting coding or spraying; and step (c), after the code printing or spraying action is finished, the robot returns to the original point and transmits a finishing signal to the upper computer, and the industrial personal computer and the code printing machine empty finished code forming information and wait for information to prepare the next code to be printed.
And in the second step, the mode of transmitting the coding information of the MES system of the steel mill to the upper computer is that an operator manually inputs a code to be printed on the industrial personal computer.
And in the second step, the code information of the steel mill MES system is transmitted to the upper computer in a mode of communicating with the steel mill MES system through a PROFIBUS-DP protocol to obtain the code from the database.
The robot is used for executing searching, positioning and coding actions, the robot can automatically search and code the steel coil, the robot is guaranteed not to have singularities, coding movement tracks are accurately designed according to the assistance of laser equipment, the repeated positioning precision of the robot is controlled within 0.5mm, and the full-flow coding requirement is met.
Through marking the same size and the not two-dimensional code of equidimension on the coil of strip of different diameters and different temperatures, realize under different curvatures and different temperatures effectual laser marking's two-dimensional code coding mode, consider the influence that coil of strip surface corrosion degree decoded the two-dimensional code, guarantee that decoding speed is fast, the accuracy is high.
A laser and spraying cooperative multi-mode marking device comprises a robot, a spraying machine 3, a laser coding machine 4, a travel switch and an upper computer, wherein the robot comprises a mechanical arm base 1, a mechanical arm 2 and a robot control cabinet, and the mechanical arm 2 is arranged on the mechanical arm base 1; the spraying machine 3 and the laser coding machine 4 are arranged at the front end of the mechanical arm 2, the laser coding machine 4 is provided with a protective cover, four travel switches are arranged at the front end of the laser coding machine 4, and the travel switches are connected with the robot and used for the robot to determine coding positions; the upper computer is connected with the robot through the robot control cabinet and is connected with the laser coding machine 4.
The robot has a load of 150-300 kg and a working range of 2.6-3.2 meters.
The coating machine 3 comprises a spray printing head, a paint circulating system, a coating cabinet, a liquid level sensor, a temperature sensor, a pressure sensor, a cleaning circulating system, a coating bucket, a stirrer, a pipeline system and a control system.
In practical application, the invention consists of two parts, namely a hardware part and a software part, wherein the hardware part consists of a mechanical arm base, a mechanical arm, a travel switch, a laser coding machine and a spraying machine. The software system consists of user interface software, a robot code spraying running track, a robot laser code printing running track, communication software and PLC software.
1. Hardware component composition
As shown in FIG. 1, the hardware part consists of a mechanical arm base, a mechanical arm, a travel switch, a laser coding machine and a spraying machine. The robot adopts an ABB 6700-150/3.2 robot, the ABB robot comprises an ABB robot mechanical arm, a mechanical arm base, an ABB robot demonstrator and an ABB robot control cabinet, the robot control cabinet adopts an IRC5 control cabinet, and the IRC5 is an ABB fifth-generation robot controller. The system adopts ABBIRB 6700-150/3.2 robot as a laser coding and spraying actuating mechanism. The IRB6700 series robot has longer fault-free running time, larger load and larger working range, the load is between 150 and 300kg, and the working range is 2.6 to 3.2 meters. The spraying machine comprises a spraying printing head, a paint circulating system, a paint cabinet, a liquid level sensor, a temperature sensor, a pressure sensor, a cleaning circulating system, a paint bucket, a stirrer, a pipeline system and a control system, and is formed by combining non-standard pieces. And the identification of the position of the steel coil and the inspection of the marking effect are realized through the algorithm of the upper computer. In the invention, the laser coding machine 4 and the spraying machine 3 are integrated together and installed on the robot, different kinds of operation can be started through remote or local selection, and the robot tool does not need to be frequently replaced.
2. Software component
2.1 general overview of software design
The software part consists of user interface software, a robot code spraying running track, a robot laser code printing running track, communication software and PLC software. The user interface is edited by WINCC, an upper computer is respectively arranged in an electrical room and an operating console, the two computers have different authorities, the upper computer of the electrical room only carries out equipment state monitoring and fault alarm display, and the upper computer of the operating console is used for carrying out production operation by operators. The upper computer of the electric room uses a desktop computer associated with a flying sky, and the desktop computer adopts a 10 th-generation processor and has stable performance. The configuration is as follows: ten generations of I716G 2T stand alone, 23 inch displays. The upper computer of the operation desk adopts an association heaven-Yi business desktop computer, and is configured as follows: ten generations of I58G 1T stand alone, 23 inch displays. The operating platform is provided with an emergency stop button. The robot spouts sign indicating number orbit, and the robot is beaten sign indicating number orbit and is adopted Visual studio programming, and the orbit is edited and is down-transmitted to ABB robot switch board through host computer communication, then writes into the ABB controller with the track point through ABB robot demonstrator. After the code spraying operation track of the robot and the editing of the laser code printing operation track of the robot software module are finished, a PROFINET communication mode is configured, and the communication between the S71200 PLC and the original system is as follows: the two are connected by PROFIBUS-DP through network cable to receive signals such as coding information. Communication between the S71200 PLC and the ABB robot: the two are connected through a PROFINET network, and the function of the PROFINET network is to acquire the state information of the current robot through a network PLC and control the operation of the robot through the network; the communication mode of the barring in-place signal is DP communication. And defining a communication input/output point, reserving ports for communication of an upper computer and communication of an MES system, and completing the test of a communication part. Code reading: reading information including serial numbers, roll diameters, roll widths, strapping numbers and the like from a production line control system in a PROFIBUS-DP mode; communication between the local PLC and the robot: and issuing commands such as marking, starting, returning to the original point and the like to the robot through the PLC. The PLC employs a Siemens S7-1200 programmable controller.
2.2 user human machine interface design
And selecting an operation mode on the PLC cabinet, namely local operation or remote operation. If the local mode is selected, the working process of laser coding and code spraying is controlled by a button on the PLC cabinet; if the remote mode is selected, the robot is connected with the PC end, and the upper computer is used for operating and controlling the robot to work. The user interface comprises a main interface and two sub-interfaces, and a user software flow chart is shown in figure 2.
2.3 spray coating sample
Spraying contents: front side (circumferential direction): 12 bit code, side 12 bit code. 12-bit format: 4-bit fixed code + 6-bit running code + 2-bit running code, and the process proposes that a space is added between the 4-bit fixed code and the 6-bit running code for separation.
2.4 operating procedure
After power is transmitted, the upper computer and the lower computer are started, the upper computer detects the linkage condition of the upper computer and the lower computer, and after the linkage is normal, all operations are operated according to the instructions of the upper computer to automatically print codes or code. If the manual mode needs to be switched, a switching button needs to be manually rotated on the on-site power distribution cabinet. After the machine is started, the robot can automatically run after the steel coil is in place, and the measurement, positioning and coding work is started.
Claims (5)
1. A laser and spraying cooperative multi-mode marking method is characterized by comprising the following steps: determining a steel coil coding mode, a spraying coding mode or laser marking; transmitting the coding information of the MES system of the steel mill to an upper computer, manually selecting the coding information on an industrial personal computer, and transmitting the coding data to a laser coding machine or a spraying machine; step three, waiting for a code printing starting signal by a laser code printing machine or a spraying machine, stopping a conveyor belt after a steel coil moves to a designated position, and receiving a movement signal by a robot to prepare for starting movement; moving the robot to a fixed measuring position, opening a laser, measuring the end surface position of the steel coil, and then measuring the diameter of the steel coil; after the measurement is finished, the internal system of the robot calculates the result and determines the code printing position; integrating the laser coding machine and the spraying machine together and installing the laser coding machine and the spraying machine on the robot, moving the robot to the starting point of the coding position, and starting coding or spraying; and step (c), after the code printing or spraying action is finished, the robot returns to the original point and transmits a finishing signal to the upper computer, and the industrial personal computer and the code printing machine empty finished code forming information and wait for information to prepare the next code to be printed.
2. The laser and spray cooperative multi-mode marking method according to claim 1, characterized in that: and in the second step, the mode of transmitting the coding information of the MES system of the steel mill to the upper computer is that an operator manually inputs a code to be printed on the industrial personal computer.
3. The laser and spray cooperative multi-mode marking method according to claim 1, characterized in that: and in the second step, the code information of the steel mill MES system is transmitted to the upper computer in a mode of communicating with the steel mill MES system through a PROFIBUS-DP protocol to obtain the code from the database.
4. The laser and spray cooperative multi-mode marking method according to claim 1, characterized in that: the robot is used for executing searching, positioning and coding actions, the robot can automatically search and code the steel coil, the robot is guaranteed not to have singularities, coding movement tracks are accurately designed according to the assistance of laser equipment, the repeated positioning precision of the robot is controlled within 0.5mm, and the full-flow coding requirement is met.
5. The laser and spray cooperative multi-mode marking method according to claim 1, characterized in that: the two-dimensional codes with the same size and different sizes are marked on steel coils with different diameters and different temperatures, so that the two-dimensional code coding mode of the laser identification is effectively realized under different curvatures and different temperatures.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210039688.9A CN114083140B (en) | 2022-01-14 | 2022-01-14 | Laser and spraying cooperative multi-mode marking method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210039688.9A CN114083140B (en) | 2022-01-14 | 2022-01-14 | Laser and spraying cooperative multi-mode marking method and device |
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| CN114083140A CN114083140A (en) | 2022-02-25 |
| CN114083140B true CN114083140B (en) | 2022-04-08 |
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| CN114771107B (en) * | 2022-06-22 | 2022-09-06 | 佛山豪德数控机械有限公司 | Ink jet numbering machine system capable of recognizing code spraying positions for intelligent manufacturing production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101628507B (en) * | 2009-07-31 | 2011-06-29 | 浙江工业大学 | Method for realizing high-speed following ink-jet printing by dynamically controlling print resolution |
| DE102010000963A1 (en) * | 2010-01-18 | 2011-07-21 | Tampoprint AG, 70825 | Method fore manufacturing stencil e.g. electrochemical etching mask that is utilized for electro chemical corroding of metal sheets for marking packagings by spraying process, involves removing covering layer by radiation of laser |
| CN103612491B (en) * | 2013-12-10 | 2018-03-02 | 中国航空综合技术研究所 | A kind of laser marking control card |
| CN209920769U (en) * | 2018-11-06 | 2020-01-10 | 南京帝鼎数控科技有限公司 | Optical fiber code spraying integrated machine |
| CN112355366A (en) * | 2020-01-10 | 2021-02-12 | 张武军 | Automatic forming machine for steel seal marks of brake drums |
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