CN114453759A - Tire laser lettering robot and control method - Google Patents

Tire laser lettering robot and control method Download PDF

Info

Publication number
CN114453759A
CN114453759A CN202210238489.0A CN202210238489A CN114453759A CN 114453759 A CN114453759 A CN 114453759A CN 202210238489 A CN202210238489 A CN 202210238489A CN 114453759 A CN114453759 A CN 114453759A
Authority
CN
China
Prior art keywords
lettering
tire
instruction
laser
subunit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210238489.0A
Other languages
Chinese (zh)
Other versions
CN114453759B (en
Inventor
张波
孙洪林
於宾
刘海波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Zhongce Qingquan Industrial Co ltd
Original Assignee
Hangzhou Zhongce Qingquan Industrial Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Zhongce Qingquan Industrial Co ltd filed Critical Hangzhou Zhongce Qingquan Industrial Co ltd
Priority to CN202210238489.0A priority Critical patent/CN114453759B/en
Publication of CN114453759A publication Critical patent/CN114453759A/en
Application granted granted Critical
Publication of CN114453759B publication Critical patent/CN114453759B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/362—Laser etching
    • 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
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/62—Plastics recycling; Rubber recycling

Abstract

The invention discloses a tire laser lettering robot and a control method thereof, wherein the tire laser lettering robot comprises a mechanical arm and a clamping device, wherein a tire to be lettered is clamped on the clamping device; the mechanical arm is connected with a rotary connecting seat, and the identification device identifies the identification code to obtain identification character information; the three-dimensional scanning device scans the tire to be engraved in three dimensions to generate a three-dimensional scanning model; the first generating unit generates an initial lettering instruction according to the recognition character information; the second generating unit generates a position adjusting instruction according to the three-dimensional scanning model; a third generation unit generates a correction lettering instruction according to the three-dimensional scanning model; when the flatness difference value is not larger than the deviation threshold value, the comparison unit takes the initial lettering instruction as a laser lettering instruction, otherwise, takes the correction lettering instruction as a laser adjustment instruction; the mechanical arm adjusts the rotary connecting seat according to the position adjusting instruction; and the laser lettering device is used for lettering the tire to be lettered by laser according to the laser adjusting instruction. The invention improves the laser lettering effect on the surface of the tire.

Description

Tire laser lettering robot and control method
Technical Field
The invention relates to the technical field of tire lettering, in particular to a tire laser lettering robot and a control method.
Background
A tire is a ground-rolling circular ring-shaped elastic rubber article mounted on various vehicles or machines. Generally mounted on a metal rim, and is capable of supporting a vehicle body, buffering external impact, achieving contact with a road surface and ensuring the driving performance of a vehicle. The tire needs to be subjected to laser lettering treatment in the tire processing process, and due to the existence of the yield, the shapes of different tires produced by the same mold still have slight differences. In prior art, all use the laser device of carving characters to the tire of same mould output and carry out the processing of same laser carving characters, the carving characters on the tire surface that obtains through this kind of laser carving characters processing mode often can appear the depth and differ, and the phenomenon that is fuzzy even, the laser effect of carving characters is relatively poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a tire laser lettering robot and a control method thereof, which are used for improving the laser lettering effect on the surface of a tire.
In order to achieve the purpose, the invention provides the following technical scheme: the laser tire lettering robot comprises a mechanical arm and a clamping device, wherein the upper end of the clamping device is used for clamping a tire to be lettered, and an identification code is preset on the upper surface of the tire to be lettered;
the mechanical arm is arranged at the side end of the clamping device, a rotary connecting seat is rotatably connected to the mechanical arm, a laser lettering device, a recognition device and a three-dimensional scanning device are mounted on the rotary connecting seat, and the mechanical arm, the laser lettering device, the recognition device and the three-dimensional scanning device are all connected with a control module through electric signals;
the identification device is used for identifying the identification code to obtain identification character information;
the three-dimensional scanning device is used for carrying out three-dimensional scanning on the tire to be engraved to generate a three-dimensional scanning model;
the control module includes:
the first generating unit is used for generating an initial lettering instruction according to the identification character information, wherein the initial lettering instruction comprises the standard surface flatness of the tire to be lettered;
the second generating unit is used for generating a position adjusting instruction according to the three-dimensional scanning model;
a third generating unit, configured to generate a correction lettering instruction according to the three-dimensional scanning model, where the correction lettering instruction includes an actual surface flatness of the tire to be lettered;
the comparison unit is respectively connected with the first generation unit and the third generation unit and used for subtracting the standard surface flatness and the actual surface flatness to obtain a flatness difference value, and when the flatness difference value is not more than a preset deviation threshold value, the initial lettering instruction is used as a laser lettering instruction; when the flatness difference is larger than the deviation threshold, taking the correction lettering instruction as the laser adjusting instruction;
the mechanical arm is used for adjusting the height and the rotation angle of the rotary connecting seat according to the position adjusting instruction;
the laser lettering device is used for carrying out laser lettering on the tire to be lettered according to the laser adjusting instruction.
Further, the first generation unit includes:
the storage subunit is used for storing a plurality of pairs of the identification character information and standard parameters which are associated with each other, and the standard parameters comprise the standard surface flatness, the standard height and the standard diameter;
the matching subunit is connected with the storage subunit and used for matching in the storage subunit according to the identification character information to obtain the corresponding standard parameters;
and the generating subunit is connected with the matching subunit and used for generating the initial lettering instruction according to the standard parameters.
Further, the second generation unit includes:
the analysis subunit is used for analyzing the three-dimensional scanning model to obtain actual three-dimensional parameters of the three-dimensional scanning model, wherein the actual three-dimensional parameters comprise actual height, actual diameter, actual surface flatness and upper surface depression degree;
the processing subunit is connected with the analysis subunit and is used for carrying out comprehensive processing according to the actual height, the actual diameter and the upper surface depression degree to obtain the position adjusting instruction, and the position adjusting instruction comprises a height adjusting instruction, a transverse adjusting instruction and an angle adjusting instruction;
the mechanical arm adjusts the lifting height of the rotary connecting seat according to the height adjusting instruction, adjusts the transverse moving distance of the rotary connecting seat according to the transverse adjusting instruction, and adjusts the rotating angle of the rotary connecting seat according to the angle adjusting instruction.
Further, the third generating unit includes:
the operation subunit is connected with the analysis subunit and used for substituting the actual height, the actual diameter and the actual surface flatness into a preset operation formula to obtain a three-dimensional detection score;
and the comparison subunit is connected with the operation subunit and is used for comparing the three-dimensional detection score with a preset score threshold value and generating the correction lettering instruction according to the actual height, the actual diameter and the actual surface flatness corresponding to the three-dimensional detection score when the three-dimensional detection score is greater than the score threshold value.
Further, the preset operation formula is configured to:
S＝k*(h+b％*L+x％*L)+c*h2/L；
wherein S is used to represent the three-dimensional detection score;
k is used for representing a preset first constant;
h is used to represent the actual height;
b is used for representing a preset second constant;
x is used to represent the actual surface flatness;
l is used to represent the actual diameter;
c is used to represent a preset third constant.
Furthermore, the clamping device comprises a conveying assembly and a pair of clamping assemblies which are oppositely arranged, the conveying assembly comprises a plurality of conveying rollers, a pair of conveying belts and a first driving motor, the pair of conveying belts and the first driving motor are oppositely arranged, an output shaft of the first driving motor is coaxially connected with one of the conveying rollers, the plurality of conveying rollers are arranged in parallel, two ends of the plurality of conveying rollers are rotatably connected onto a support, the pair of conveying belts are synchronously connected with two ends of the plurality of conveying rollers, and the tire to be engraved is arranged at the upper end of the conveying rollers;
the centre gripping subassembly includes second driving motor, lead screw, slider, spacing slide rail, gag lever post and arc locating part, second driving motor is located conveying subassembly's lower extreme, second driving motor with the transfer roller keeps parallel, second driving motor's output shaft coaxial coupling the lead screw, the slider spiro union is in on the lead screw, slider sliding connection is in the spacing guide rail, spacing guide rail is located the lower extreme of lead screw, the gag lever post is vertical to be connected the upper end of slider, the vertical setting of gag lever post is adjacent two in the clearance between the transfer roller, the arc locating part is fixed the top side of gag lever post, the shape of arc locating part with treat the round limit shape looks adaptation of carving characters tire.
Further, the inboard of arc locating part is provided with flexible blotter, the inboard of flexible blotter is provided with anti-skidding line.
A control method of a tire laser lettering robot is applied to the tire laser lettering robot, and comprises the following steps:
step S1, the identification device identifies the identification code to obtain identification character information;
step S2, the three-dimensional scanning device carries out three-dimensional scanning on the tire to be engraved to generate a three-dimensional scanning model;
step S3, the first generating unit generates an initial lettering instruction according to the identification character information, the second generating unit generates a position adjusting instruction according to the three-dimensional scanning model, and the third generating unit generates a correction lettering instruction according to the three-dimensional scanning model;
step S4, the comparing unit obtains a flatness difference by subtracting the standard surface flatness and the actual surface flatness, and determines whether the flatness is greater than a preset deviation threshold:
if not, the comparing unit takes the initial lettering instruction as a laser lettering instruction, and goes to step S5;
if yes, the comparing unit takes the correction lettering instruction as the laser adjusting instruction, and goes to the step S5;
step S5, the mechanical arm adjusts the lifting height, the traversing distance and the rotating angle of the rotary connecting seat according to the position adjusting instruction;
and step S6, the laser lettering device carries out laser lettering on the tire to be lettered according to the laser adjusting instruction.
Further, the step S3 includes:
step S31, the storage subunit stores a plurality of pairs of the identification character information and the standard parameter which are associated with each other;
step S32, the matching subunit matches in the storage subunit according to the recognition character information to obtain the corresponding standard parameter;
and step S33, the generating subunit generates the initial lettering instruction according to the standard parameter.
The invention has the beneficial effects that:
according to the invention, the identification character information and the three-dimensional scanning model are obtained through detection, the control module generates an initial lettering instruction and a correction lettering instruction which comprise the standard surface evenness and the actual surface evenness according to the identification character information and the three-dimensional scanning model, the control module compares the standard surface evenness and the actual surface evenness with the deviation threshold value after difference, finally, a laser adjusting instruction is generated according to the comparison result, and when the laser lettering device carries out lettering on a tire to be lettered according to the laser adjusting instruction, the laser lettering effect on the tire can be effectively improved, the condition that the lettering depth is different is avoided, and the yield of the tire is improved.
Drawings
FIG. 1 is a schematic diagram of a tire laser engraving robot according to the present invention;
FIG. 2 is a schematic structural diagram of a tire laser engraving robot according to the present invention;
FIG. 3 is a schematic view of the structure of the clamping assembly of the present invention;
FIG. 4 is a flowchart of the steps of a method of controlling a tire laser engraving robot in accordance with the present invention;
FIG. 5 is a sub-flowchart of the steps of the tire laser engraving robot control method of the present invention.
Reference numerals are as follows: 1. a laser lettering device; 2. an identification device; 3. a three-dimensional scanning device; 4. a control module; 41. a first generation unit; 411. a storage subunit; 412. a matching subunit; 413. generating a subunit; 42. a second generation unit; 421. an analysis subunit; 422. a processing subunit; 43. a third generation unit; 431. an operation subunit; 432. a comparison subunit; 44. a comparison unit; 5. a mechanical arm; 6. a clamping device; 60. a support; 61. a conveying roller; 62. a transmission belt; 63. a first drive motor; 64. a second drive motor; 65. a screw rod; 66. a slider; 67. a limiting slide rail; 68. a limiting rod; 69. an arc-shaped limiting part; 6A, a tire to be engraved.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1 and 2, the tire laser lettering robot of the embodiment includes a mechanical arm 5 and a clamping device 6, wherein the upper end of the clamping device 6 is used for clamping a tire 6A to be lettered, and an identification code is preset on the upper surface of the tire 6A to be lettered;
the mechanical arm 5 is arranged at the side end of the clamping device 6, the mechanical arm 5 is rotatably connected with a rotary connecting seat, the rotary connecting seat is provided with the laser lettering device 1, the recognition device 2 and the three-dimensional scanning device 3, and the mechanical arm 5, the laser lettering device 1, the recognition device 2 and the three-dimensional scanning device 3 are all connected with a control module 4 through electric signals;
the recognition device 2 is used for recognizing the recognition code to obtain recognition character information;
the three-dimensional scanning device 3 is used for three-dimensionally scanning the tire 6A to be engraved to generate a three-dimensional scanning model;
the control module 4 includes:
the first generating unit 41 is configured to generate an initial lettering instruction according to the identification character information, where the initial lettering instruction includes a standard surface flatness of the tire 6A to be lettered;
a second generating unit 42, configured to generate a position adjustment instruction according to the three-dimensional scanning model;
a third generating unit 43, configured to generate a correction lettering instruction according to the three-dimensional scanning model, where the correction lettering instruction includes the actual surface flatness of the tire 6A to be lettered;
the comparison unit 44 is respectively connected with the first generation unit 41 and the third generation unit 43, and is configured to obtain a flatness difference value by subtracting the standard surface flatness and the actual surface flatness, and use the initial lettering instruction as a laser lettering instruction when the flatness difference value is not greater than a preset deviation threshold; when the flatness difference value is larger than the deviation threshold value, taking the correction lettering instruction as a laser adjusting instruction;
the mechanical arm 5 is used for adjusting the height and the rotation angle of the rotary connecting seat according to the position adjusting instruction;
the laser lettering device 1 is used for carrying out laser lettering on the tire 6A to be lettered according to the laser adjusting instruction.
Specifically, in this embodiment, the laser lettering device 1 may be a laser, and the model of the laser may be LSR445 SD. The identification code may be a bar code or a two-dimensional code, and the identification device 2 may be a bar code identifier or a two-dimensional code identifier. Further, the recognition device 2 recognizes the tire to be engraved 6A by adopting a nanosecond flying shooting technology, the nanosecond flying shooting technology has the advantage of accurate positioning, the recognition code recognition of the tire to be engraved 6A by adopting the nanosecond flying shooting technology can effectively reduce the probability of recognition errors, and guarantee is provided for improving the accuracy of laser engraving.
The control module 4 may be a control chip, and the model of the control chip may be STM32F103C8T6LQFP 48.
This technical scheme obtains discernment character information and three-dimensional scanning model through detecting, and through control module 4 according to discernment character information and three-dimensional scanning model generation include standard surface roughness and actual surface roughness's initial instruction of carving characters and correction instruction of carving characters, and then compare with the deviation threshold value after making the difference with standard surface roughness and actual surface roughness through control module 4, finally generate laser regulation instruction according to the comparison result, laser device of carving characters is treated according to laser regulation instruction and is carved characters when 6A, can effectively promote the laser effect of carving characters to the tire, avoid appearing the condition that the depth of carving characters is different, the yields of tire has been promoted.
Preferably, the first generating unit 41 includes:
a storage subunit 411, configured to store a plurality of pairs of mutually associated recognition character information and standard parameters, where the standard parameters include standard surface flatness, standard height, and standard diameter;
the matching subunit 412 is connected to the storage subunit 411 and configured to match the recognition character information in the storage subunit 411 to obtain a corresponding standard parameter;
and the generating subunit 413 is connected to the matching subunit 412 and is configured to generate an initial lettering instruction according to the standard parameter.
Specifically, in this embodiment, the storage subunit 411 is a storage space inside the control chip. The storage space is stored with a plurality of pairs of mutually associated identification character information and standard parameters in advance. The matching subunit 412 obtains a corresponding standard parameter by matching in the storage space according to the recognition character information, so that the generating subunit 413 can generate the initial lettering instruction according to the standard surface flatness, the standard height, and the standard diameter in the standard parameter.
Preferably, the second generating unit 42 includes:
the analysis subunit 421 is configured to analyze the three-dimensional scanning model to obtain actual three-dimensional parameters of the three-dimensional scanning model, where the actual three-dimensional parameters include an actual height, an actual diameter, an actual surface flatness, and an upper surface sag degree;
the processing subunit 422 is connected to the analyzing subunit 421, and is configured to perform comprehensive processing according to the actual height, the actual diameter, and the upper surface depression degree to obtain a position adjustment instruction, where the position adjustment instruction includes a height adjustment instruction, a transverse adjustment instruction, and an angle adjustment instruction;
the mechanical arm 5 adjusts the lifting height of the rotary connecting seat according to the height adjusting instruction, adjusts the transverse moving distance of the rotary connecting seat according to the transverse adjusting instruction, and adjusts the rotating angle of the rotary connecting seat according to the angle adjusting instruction.
Preferably, the third generating unit 43 includes:
an operation subunit 431, connected to the analysis subunit 421, for substituting the actual height, the actual diameter, and the actual surface flatness into a preset operation formula to obtain a three-dimensional detection score;
and the comparison subunit 432 is connected to the operation subunit 431, and is configured to compare the three-dimensional detection score with a preset score threshold, and generate a correction lettering instruction according to the actual height, the actual diameter, and the actual surface flatness corresponding to the three-dimensional detection score when the three-dimensional detection score is greater than the score threshold.
Specifically, in this embodiment, the operation subunit 431 performs calculation by substituting the actual height, the actual diameter, and the actual surface flatness into a preset operation formula, so as to obtain a three-dimensional detection score, and the three-dimensional detection score is used for the comparison subunit 432 to compare with the score threshold. The score threshold may be 60. When the three-dimensional detection score is greater than 60, the tire basically meets the detection standard, and the comparison subunit 432 can generate a correction lettering instruction according to the actual height, the actual diameter and the actual surface flatness; when the three-dimensional detection score is not greater than 60, the tire is not in accordance with the detection standard, and the control module 4 should generate an instruction to prompt that the tire cannot be engraved by laser.
Preferably, the preset operation formula is configured as follows:
S＝k*(h+b％*L+x％*L)+c*h2/L；
wherein S is used for representing a three-dimensional detection score;
k is used for representing a preset first constant;
h is used to represent the actual height;
b is used for representing a preset second constant;
x is used to represent actual surface flatness;
l is used to denote the actual diameter;
c is used to represent a preset third constant.
Specifically, in this embodiment, k may be 3, b may be 7, and c may be 5, and then the preset operation formula is configured as: s ═ 3(h + 7% L + x% + L) +5h2/L。
Preferably, the clamping device 6 comprises a conveying assembly and a pair of clamping assemblies arranged oppositely, the conveying assembly comprises a plurality of conveying rollers 61, a pair of conveying belts 62 and a first driving motor 63 which are arranged oppositely, an output shaft of the first driving motor 63 is coaxially connected with one of the conveying rollers 61, the plurality of conveying rollers 61 are arranged in parallel, two ends of the plurality of conveying rollers 61 are rotatably connected onto a support 60, the pair of conveying belts are synchronously connected with two ends of the plurality of conveying rollers 61, and the tire 6A to be engraved is arranged at the upper end of the conveying rollers 61;
as shown in fig. 3, the clamping assembly includes a second driving motor 64, a screw rod 65, a sliding block 66, a limiting slide rail 67, a limiting rod 68 and an arc-shaped limiting part 69, the second driving motor 64 is located at the lower end of the conveying assembly, the second driving motor 64 is parallel to the conveying rollers 61, an output shaft of the second driving motor 64 is coaxially connected to the screw rod 65, the sliding block 66 is screwed on the screw rod 65, the sliding block 66 is slidably connected in a limiting guide rail, the limiting guide rail is located at the lower end of the screw rod 65, the limiting rod 68 is vertically connected to the upper end of the sliding block 66, the limiting rod 68 is vertically arranged in a gap between two adjacent conveying rollers 61, the arc-shaped limiting part 69 is fixed at the top side end of the limiting rod 68, and the shape of the arc-shaped limiting part 69 is matched with the wheel edge shape of the tire 6A to be engraved.
Specifically, in this embodiment, the tire to be detected is placed at the upper end of the driving roller, the first driving motor 63 drives the driving roller to rotate, and the tire to be detected is conveyed to the lower side of the rotary connecting seat through the conveying belt 62. The pair of second driving motors 64 operates, the screw rod 65 rotates to drive the sliding block 66 to transversely slide, and further the arc-shaped limiting piece 69 is driven to move towards the tire 6A to be engraved in the opposite direction until the tire 6A to be engraved is completely clamped, so that the structural stability of the tire 6A to be engraved during laser engraving is improved.
Preferably, a flexible cushion pad is disposed on the inner side of the arc-shaped limiting member 69, and anti-slip lines are disposed on the inner side of the flexible cushion pad.
In particular, in this embodiment, the flexible bumper pad may be made of a rubber material. Through setting up flexible blotter, promoted arc locating part 69 and wait to detect the shock-absorbing capacity of tire, make arc locating part 69 can better centre gripping wait to detect the tire simultaneously. Through set up anti-skidding line in the inboard of flexible blotter, promoted clamping device 6 to waiting to detect the skid resistance ability of tire, promoted the structural stability when laser writing.
A control method of a tire laser lettering robot, which is applied to the tire laser lettering robot, as shown in fig. 4, the control method of the tire laser lettering robot includes:
step S1, the identification device 2 identifies the identification code to obtain identification character information;
step S2, the three-dimensional scanning device 3 carries out three-dimensional scanning on the tire 6A to be engraved to generate a three-dimensional scanning model;
step S3, the first generating unit 41 generates an initial carving instruction according to the recognition character information, the second generating unit 42 generates a position adjusting instruction according to the three-dimensional scanning model, and the third generating unit 43 generates a correction carving instruction according to the three-dimensional scanning model;
in step S4, the comparing unit 44 obtains a flatness difference by subtracting the standard surface flatness and the actual surface flatness, and determines whether the flatness is greater than a preset deviation threshold:
if not, the comparing unit 44 takes the initial character-engraving instruction as a laser character-engraving instruction, and goes to step S5;
if yes, the comparing unit 44 takes the correction lettering instruction as a laser adjusting instruction, and goes to step S5;
step S5, the mechanical arm 5 adjusts the lifting height, the traversing distance and the rotating angle of the rotating connecting seat according to the position adjusting instruction;
in step S6, the laser engraving device 1 performs laser engraving on the tire 6A to be engraved according to the laser adjustment instruction.
Preferably, as shown in fig. 5, step S3 includes:
step S31, the storage subunit 411 stores a plurality of pairs of mutually associated identification character information and standard parameters;
step S32, the matching subunit 412 matches in the storage subunit 411 according to the recognition character information to obtain a corresponding standard parameter;
in step S33, the generation subunit 413 generates an initial lettering instruction according to the standard parameter.
The working principle is as follows:
the identification device 2 on the rotary connecting seat is started, the identification code of the tire 6A to be engraved in the identification range is scanned, identification character information is obtained, and the identification character information is used as an identity certificate of the tire 6A to be engraved and is associated with the standard parameter of the tire of the model. Meanwhile, the three-dimensional scanning device 3 carries out real-time three-dimensional scanning on the tire 6A to be engraved, and establishes a three-dimensional scanning model according to the three-dimensional scanning structure, wherein the three-dimensional scanning model comprises the actual three-dimensional parameters of the tire 6A to be engraved. First, the first generating unit 41 processes the identification character information to obtain an initial lettering instruction, then the second generating unit 42 generates a position adjusting instruction according to the three-dimensional scanning model, and then the third generating unit 43 generates a correction lettering instruction according to the three-dimensional scanning model. The comparison unit 44 first compares the standard surface flatness and the actual surface flatness to obtain a flatness difference, and then compares the flatness difference with a deviation threshold. The deviation threshold may be 0.5. When the flatness difference is larger than 0.5, the actual shape of the tire 6A to be engraved has larger deviation from the standard shape of the tire model, so that the laser engraving device 1 needs to be controlled by a correction engraving instruction to perform laser engraving on the tire; when the flatness difference is not greater than 0.5, it indicates that the deviation between the actual shape of the tire 6A to be engraved and the standard shape of the tire model is small, and therefore it is necessary to control the laser engraving device 1 to perform laser engraving on the tire by using the initial engraving instruction.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (9)

1. The utility model provides a tire laser machine people that carves characters which characterized in that: the tire carving machine comprises a mechanical arm (5) and a clamping device (6), wherein the upper end of the clamping device (6) is used for clamping a tire (6A) to be carved with characters, and an identification code is preset on the upper surface of the tire (6A) to be carved with characters;
the mechanical arm (5) is arranged at the side end of the clamping device (6), a rotary connecting seat is rotatably connected to the mechanical arm (5), a laser lettering device (1), a recognition device (2) and a three-dimensional scanning device (3) are mounted on the rotary connecting seat, and the mechanical arm (5), the laser lettering device (1), the recognition device (2) and the three-dimensional scanning device (3) are all connected with a control module (4) in an electric signal mode;
the identification device (2) is used for identifying the identification code to obtain identification character information;
the three-dimensional scanning device (3) is used for carrying out three-dimensional scanning on the tire (6A) to be engraved to generate a three-dimensional scanning model;
the control module (4) comprises:
the first generating unit (41) is used for generating an initial lettering instruction according to the identification character information, wherein the initial lettering instruction comprises the standard surface flatness of the tire (6A) to be lettered;
a second generating unit (42) for generating a position adjustment instruction according to the three-dimensional scanning model;
a third generating unit (43) for generating a correction lettering instruction according to the three-dimensional scanning model, wherein the correction lettering instruction comprises the actual surface flatness of the tire (6A) to be lettered;
the comparison unit (44) is respectively connected with the first generation unit (41) and the third generation unit (43) and is used for subtracting the standard surface flatness and the actual surface flatness to obtain a flatness difference value, and when the flatness difference value is not larger than a preset deviation threshold value, the initial lettering instruction is used as a laser lettering instruction; when the flatness difference is larger than the deviation threshold, taking the correction lettering instruction as the laser adjusting instruction;
the mechanical arm (5) is used for adjusting the lifting height, the transverse moving distance and the rotating angle of the rotary connecting seat according to the position adjusting instruction;
the laser lettering device (1) is used for carrying out laser lettering on the tire (6A) to be lettered according to the laser adjusting instruction.
2. The tire laser engraving robot according to claim 1, wherein: the first generation unit (41) includes:
a storage subunit (411) for storing a plurality of pairs of the identification character information and standard parameters which are associated with each other, wherein the standard parameters comprise the standard surface flatness, the standard height and the standard diameter;
the matching subunit (412) is connected with the storage subunit (411) and is used for matching in the storage subunit (411) according to the identification character information to obtain the corresponding standard parameters;
and the generating subunit (413) is connected with the matching subunit (412) and is used for generating the initial lettering instruction according to the standard parameters.
3. The tire laser engraving robot of claim 1, wherein: the second generation unit (42) includes:
an analysis subunit (421) configured to analyze the three-dimensional scanning model to obtain actual three-dimensional parameters of the three-dimensional scanning model, where the actual three-dimensional parameters include an actual height, an actual diameter, the actual surface flatness, and an upper surface sag degree;
the processing subunit (422) is connected to the analyzing subunit (421), and is configured to perform comprehensive processing according to the actual height, the actual diameter, and the upper surface depression degree to obtain the position adjustment instruction, where the position adjustment instruction includes a height adjustment instruction, a lateral adjustment instruction, and an angle adjustment instruction;
the mechanical arm (5) adjusts the lifting height of the rotary connecting seat according to the height adjusting instruction, adjusts the transverse moving distance of the rotary connecting seat according to the transverse adjusting instruction, and adjusts the rotating angle of the rotary connecting seat according to the angle adjusting instruction.
4. The tire laser engraving robot of claim 3, wherein: the third generation unit (43) comprises:
the operation subunit (431) is connected with the analysis subunit (421) and is used for substituting the actual height, the actual diameter and the actual surface flatness into a preset operation formula to obtain a three-dimensional detection score;
and the comparison subunit (432) is connected with the operation subunit (431) and is used for comparing the three-dimensional detection score with a preset score threshold value and generating the corrected lettering instruction according to the actual height, the actual diameter and the actual surface flatness corresponding to the three-dimensional detection score when the three-dimensional detection score is greater than the score threshold value.
5. The tire laser engraving robot of claim 4, wherein: the preset operation formula is configured as follows:
S＝k*(h+b％*L+x％*L)+c*h2/L；
wherein S is used to represent the three-dimensional detection score;
k is used for representing a preset first constant;
h is used to represent the actual height;
b is used for representing a preset second constant;
x is used to represent the actual surface flatness;
l is used to represent the actual diameter;
c is used to represent a preset third constant.
6. The tire laser engraving robot of claim 1, wherein: the clamping device (6) comprises a conveying assembly and a pair of clamping assemblies which are oppositely arranged, the conveying assembly comprises a plurality of conveying rollers (61), a pair of transmission belts (62) which are oppositely arranged and a first driving motor (63), an output shaft of the first driving motor (63) is coaxially connected with one of the conveying rollers (61), the plurality of conveying rollers (61) are arranged in parallel, two ends of the plurality of conveying rollers (61) are rotatably connected onto a support (60), the pair of conveying belts are synchronously connected with two ends of the plurality of conveying rollers (61), and the tire (6A) to be engraved is arranged at the upper end of the conveying roller (61);
the clamping assembly comprises a second driving motor (64), a screw rod (65), a sliding block (66), a limiting slide rail (67), a limiting rod (68) and an arc-shaped limiting part (69), the second driving motor (64) is positioned at the lower end of the conveying assembly, the second driving motor (64) and the conveying rollers (61) are kept parallel, an output shaft of the second driving motor (64) is coaxially connected with the screw rod (65), the sliding block (66) is in threaded connection with the screw rod (65), the sliding block (66) is in sliding connection with the limiting guide rail, the limiting guide rail is positioned at the lower end of the screw rod (65), the limiting rod (68) is vertically connected with the upper end of the sliding block (66), the limiting rod (68) is vertically arranged in a gap between two adjacent conveying rollers (61), and the arc-shaped limiting part (69) is fixed at the top side end of the limiting rod (68), the shape of the arc-shaped limiting part (69) is matched with the shape of the wheel edge of the tire (6A) to be engraved.
7. The tire laser engraving robot of claim 6, wherein: the inboard of arc locating part (69) is provided with flexible blotter, the inboard of flexible blotter is provided with anti-skidding line.
8. A control method of a tire laser lettering robot, applied to the tire laser lettering robot of any one of claims 1 to 7, wherein the control method of the tire laser lettering robot comprises:
step S1, the identification device (2) identifies the identification code to obtain identification character information;
step S2, the three-dimensional scanning device (3) carries out three-dimensional scanning on the tire (6A) to be engraved to generate a three-dimensional scanning model;
step S3, the first generating unit (41) generates an initial lettering instruction according to the identification character information, the second generating unit (42) generates a position adjusting instruction according to the three-dimensional scanning model, and the third generating unit (43) generates a correction lettering instruction according to the three-dimensional scanning model;
step S4, the comparing unit (44) obtains a flatness difference by subtracting the standard surface flatness and the actual surface flatness, and determines whether the flatness is greater than a preset deviation threshold:
if not, the comparison unit (44) takes the initial lettering instruction as a laser lettering instruction, and the process goes to step S5;
if yes, the comparing unit (44) takes the correction lettering instruction as the laser adjusting instruction, and the process goes to the step S5;
step S5, the mechanical arm (5) adjusts the lifting height, the traversing distance and the rotating angle of the rotary connecting seat according to the position adjusting instruction;
and step S6, the laser lettering device (1) carries out laser lettering on the tire (6A) to be lettered according to the laser adjusting instruction.
9. The tire laser engraving robot control method according to claim 8, wherein: the step S3 includes:
step S31, the storage subunit (411) stores a plurality of pairs of the identification character information and the standard parameter which are associated with each other;
step S32, the matching subunit (412) matches in the storage subunit (411) according to the recognition character information to obtain the corresponding standard parameter;
in step S33, the generating subunit (413) generates the initial lettering instruction according to the standard parameter.
CN202210238489.0A 2022-03-11 2022-03-11 Tire laser engraving robot and control method Active CN114453759B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210238489.0A CN114453759B (en) 2022-03-11 2022-03-11 Tire laser engraving robot and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210238489.0A CN114453759B (en) 2022-03-11 2022-03-11 Tire laser engraving robot and control method

Publications (2)

Publication Number Publication Date
CN114453759A true CN114453759A (en) 2022-05-10
CN114453759B CN114453759B (en) 2023-09-05

Family

ID=81416698

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210238489.0A Active CN114453759B (en) 2022-03-11 2022-03-11 Tire laser engraving robot and control method

Country Status (1)

Country Link
CN (1) CN114453759B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115870629A (en) * 2023-02-21 2023-03-31 飞天诚信科技股份有限公司 Laser lettering method, device, equipment and medium for single-line font
CN116503450A (en) * 2023-03-20 2023-07-28 盐城工学院 Tire marking method based on 3D visual positioning

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101670715A (en) * 2009-09-23 2010-03-17 上海市激光技术研究所 Tire laser marking device and method based on machine vision identity
CN111098316A (en) * 2020-01-07 2020-05-05 秦皇岛信越智能装备有限公司 Laser recording and reading device and method for two-dimensional code on surface of hub
CN213764488U (en) * 2020-11-23 2021-07-23 昆山光合元自动化科技有限公司 Limiting clamp for laser carving machine
CN113290323A (en) * 2021-06-30 2021-08-24 上海崮德智能科技有限公司 Tire laser marking machine and marking method
CN113695755A (en) * 2021-09-17 2021-11-26 上海崮德智能科技有限公司 Laser device of carving characters that robot drove

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101670715A (en) * 2009-09-23 2010-03-17 上海市激光技术研究所 Tire laser marking device and method based on machine vision identity
CN111098316A (en) * 2020-01-07 2020-05-05 秦皇岛信越智能装备有限公司 Laser recording and reading device and method for two-dimensional code on surface of hub
CN213764488U (en) * 2020-11-23 2021-07-23 昆山光合元自动化科技有限公司 Limiting clamp for laser carving machine
CN113290323A (en) * 2021-06-30 2021-08-24 上海崮德智能科技有限公司 Tire laser marking machine and marking method
CN113695755A (en) * 2021-09-17 2021-11-26 上海崮德智能科技有限公司 Laser device of carving characters that robot drove

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115870629A (en) * 2023-02-21 2023-03-31 飞天诚信科技股份有限公司 Laser lettering method, device, equipment and medium for single-line font
CN116503450A (en) * 2023-03-20 2023-07-28 盐城工学院 Tire marking method based on 3D visual positioning

Also Published As

Publication number Publication date
CN114453759B (en) 2023-09-05

Similar Documents

Publication Publication Date Title
CN114453759A (en) Tire laser lettering robot and control method
KR20230096939A (en) Method and apparatus for removing flash from a tire
EP0990484B2 (en) Eyeglass lens processing system
CN205271634U (en) Wheel hub intelligence deburring robot
US10272483B1 (en) Wheel blank outer rim scribing device
EP3328181A1 (en) Component mounting machine and component mounting system
CN114777716B (en) Lens thickness detector
CN104842053A (en) Flat-bulb steel cutting machine production line
CN106141203A (en) A kind of jewelry slice pattern-etching machine
CN116393833A (en) Intelligent laser engraving system for bamboo engraving process
CN206139735U (en) Lower control arm upper plate turn -ups stamping die about car
CN106826399B (en) Intelligent deburring method for hub
CN218575764U (en) Automatic grinding device for online punching and hemming burrs removal
CN108941628A (en) A kind of rocking knife carrier that lathe tool abrasion can be reduced based on double-slider mechanism
CN215147560U (en) Edge grinding device for sole
CN112122828B (en) Automatic centering device and method for railway passenger car roof camber beam
CN212794504U (en) Multi-station spherical roller outer diameter super-fine grinder
JP2014024145A (en) Grinding device
CN211438773U (en) Expanding mechanism of hub welding system
JP2000272026A (en) Method and apparatus for sticking tread rubber
CN220662040U (en) Wheel hub marking device
KR102473551B1 (en) Precision internal tooth processing device using numerical control
CN107364159B (en) Movable beam inflation precompression stroke controllable tire rear inflation device
CN206084663U (en) Integration precise adjustment's grinding machine
CN217071965U (en) Die casting feeding equipment with position automatic correction function

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A tire laser engraving robot and its control method

Granted publication date: 20230905

Pledgee: The Bank of Hangzhou Fuyang branch of the new Limited by Share Ltd.

Pledgor: HANGZHOU ZHONGCE QINGQUAN INDUSTRIAL Co.,Ltd.

Registration number: Y2024980004211