CN114453759B - Tire laser engraving robot and control method - Google Patents
Tire laser engraving robot and control method Download PDFInfo
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- CN114453759B CN114453759B CN202210238489.0A CN202210238489A CN114453759B CN 114453759 B CN114453759 B CN 114453759B CN 202210238489 A CN202210238489 A CN 202210238489A CN 114453759 B CN114453759 B CN 114453759B
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- 238000010147 laser engraving Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012937 correction Methods 0.000 claims abstract description 25
- 238000010330 laser marking Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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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
-
- 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
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- 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
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- 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 engraving robot and a control method, wherein the tire laser engraving robot comprises a mechanical arm and a clamping device, wherein the clamping device clamps a tire to be engraved; 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 is used for three-dimensionally scanning the tire to be engraved to generate a three-dimensional scanning model; the first generation unit generates an initial lettering instruction according to the identification character information; the second generating unit generates a position adjustment instruction according to the three-dimensional scanning model; the third generating 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 the laser lettering instruction; the mechanical arm adjusts the rotary connecting seat according to the position adjusting instruction; the laser engraving device performs laser engraving on the tire to be engraved according to the laser engraving instruction. The invention improves the laser engraving effect of the tire surface.
Description
Technical Field
The invention relates to the technical field of tire engraving, in particular to a tire laser engraving robot and a control method.
Background
Tires are ground-engaging rolling, annular elastomeric rubber articles assembled on a variety of vehicles or machines. The automobile body is usually arranged on a metal rim, can support the automobile body, buffer external impact, realize contact with a road surface and ensure the running performance of the automobile. In the processing process of the tire, the tire is required to be subjected to laser engraving treatment, and due to the existence of the yield, even the shapes of different tires produced by the same mold still have slight differences. In the prior art, tires produced by the same die are subjected to the same laser engraving treatment by using a laser engraving device, and the engraving on the surface of the tire obtained by the laser engraving treatment mode often has the phenomena of different depths and even blurry and poor laser engraving effect.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a tire laser engraving robot and a control method, which are used for improving the laser engraving effect on the surface of a tire.
In order to achieve the above purpose, the present invention provides the following technical solutions: the tire laser engraving 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 engraved, and an identification code is preset on the upper surface of the tire to be engraved;
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 marking device, a recognition device and a three-dimensional scanning device are arranged on the rotary connecting seat, and the mechanical arm, the laser marking device, the recognition device and the three-dimensional scanning device are all in electric signal connection with a control module;
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 generation 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 generation unit is used for generating a position adjustment instruction according to the three-dimensional scanning model;
the third generation unit is used for generating a correction and lettering instruction according to the three-dimensional scanning model, wherein the correction and lettering instruction comprises the 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 is used for obtaining a flatness difference value by making a difference between the standard surface flatness and the actual surface flatness, and taking the initial lettering instruction as a laser lettering instruction when the flatness difference value is not larger than a preset deviation threshold value; when the flatness difference value is larger than the deviation threshold value, the correction lettering instruction is used as the laser lettering 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 engraving device is used for carrying out laser engraving on the tire to be engraved according to the laser engraving instruction.
Further, the first generating unit includes:
the storage subunit is used for storing a plurality of pairs of mutually related identification character information and standard parameters, wherein the standard parameters comprise the standard surface flatness, standard height and standard diameter;
the matching subunit is connected with the storage subunit and is used for matching in the storage subunit according to the identification character information to obtain the corresponding standard parameters;
and the generation subunit is connected with the matching subunit and is used for generating the initial lettering instruction according to the standard parameters.
Further, the second generating 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 comprehensively processing according to the actual height, the actual diameter and the upper surface depression degree to obtain the position adjustment instruction, and the position adjustment instruction comprises a height adjustment instruction, a transverse adjustment instruction and an angle adjustment 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 rotary 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 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 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 larger than the score threshold value.
Further, the preset operation formula is configured to:
S=k*(h+b%*L+x%*L)+c*h 2 /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.
Further, 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 transmission belts and a first driving motor, an output shaft of the first driving motor is coaxially connected with one of the conveying rollers, the conveying rollers are mutually parallel, two ends of the conveying rollers are rotatably connected to a bracket, the pair of transmission belts are synchronously connected with two ends of the conveying rollers, and the tire to be engraved is placed at the upper end of the conveying rollers;
the clamping assembly comprises a second driving motor, a screw rod, a sliding block, a limiting sliding rail, a limiting rod and an arc limiting part, wherein the second driving motor is located at the lower end of the conveying assembly, the second driving motor is parallel to the conveying rollers, an output shaft of the second driving motor is coaxially connected with the screw rod, the sliding block is screwed on the screw rod, the sliding block is slidably connected in the limiting sliding rail, the limiting sliding rail is located at the lower end of the screw rod, the limiting rod is vertically connected with the upper end of the sliding block, the limiting rod is vertically arranged in a gap between two adjacent conveying rollers, the arc limiting part is fixed at the top side end of the limiting rod, and the shape of the arc limiting part is matched with the shape of a wheel edge of a tire to be engraved.
Further, the inner side of the arc-shaped limiting piece is provided with a flexible buffer cushion, and the inner side of the flexible buffer cushion is provided with anti-skid lines.
The tire laser marking robot control method is applied to the tire laser marking 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 performs 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 adjustment 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 comparison unit performs difference between the standard surface flatness and the actual surface flatness to obtain a flatness difference value, and judges whether the flatness is larger than a preset deviation threshold value:
if not, the comparison unit takes the initial lettering instruction as a laser lettering instruction and transfers to the step S5;
if yes, the comparison unit takes the correction lettering instruction as the laser lettering instruction and turns 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 S6, the laser engraving device performs laser engraving on the tire to be engraved according to the laser engraving instruction.
Further, the step S3 includes:
step S31, a storage subunit stores a plurality of pairs of mutually associated identification character information and standard parameters;
step S32, a matching subunit matches the identification character information in the storage subunit to obtain the corresponding standard parameters;
and step S33, the generation subunit generates the initial lettering instruction according to the standard parameters.
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, and the initial lettering instruction and the correction lettering instruction which comprise the standard surface flatness and the actual surface flatness are generated through the control module according to the identification character information and the three-dimensional scanning model, so that the standard surface flatness and the actual surface flatness are compared with the deviation threshold value through the control module, and finally, the laser lettering instruction is generated according to the comparison result, and when the laser lettering device is used for lettering the tire to be lettered according to the laser lettering instruction, the laser lettering effect of the tire can be effectively improved, the situation of different lettering depths is avoided, and the yield of the tire is improved.
Drawings
FIG. 1 is a schematic diagram of a tire laser marking robot in accordance with the present invention;
FIG. 2 is a schematic view of a tire laser marking robot in accordance with the present invention;
FIG. 3 is a schematic view of a clamping assembly according to the present invention;
FIG. 4 is a flow chart of steps of a method for controlling a tire laser marking robot in accordance with the present invention;
fig. 5 is a sub-flowchart of the steps of the control method of the laser marking robot for tires according to the present invention.
Reference numerals: 1. a laser engraving 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 operator unit; 432. a comparison subunit; 44. a comparison unit; 5. a mechanical arm; 6. a clamping device; 60. a bracket; 61. a conveying roller; 62. a transmission belt; 63. a first driving motor; 64. a second driving motor; 65. a screw rod; 66. a slide block; 67. a limit sliding rail; 68. a limit rod; 69. an arc-shaped limiting piece; and 6A, a tire to be engraved.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
As shown in fig. 1 and 2, the tire laser marking robot of the present 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 marked, and an identification code is preset on the upper surface of the tire 6A to be marked;
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 engraving device 1, the identification device 2 and the three-dimensional scanning device 3, and the mechanical arm 5, the laser engraving device 1, the identification device 2 and the three-dimensional scanning device 3 are all in electric signal connection with a control module 4;
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 carrying out three-dimensional scanning on the tire 6A to be engraved to generate a three-dimensional scanning model;
the control module 4 includes:
a first generating unit 41, configured to generate an initial marking instruction according to the identification character information, where the initial marking instruction includes a standard surface flatness of the tire 6A to be marked;
a second generating unit 42 for generating a position adjustment instruction according to the three-dimensional scan model;
a third generating unit 43, configured to generate a correction marking instruction according to the three-dimensional scanning model, where the correction marking instruction includes an actual surface flatness of the tire 6A to be marked;
the comparing unit 44 is respectively connected to the first generating unit 41 and the third generating unit 43, and is configured to obtain a flatness difference value by making a difference between the standard surface flatness and the actual surface flatness, and when the flatness difference value is not greater than a preset deviation threshold value, use the initial lettering instruction as the laser lettering instruction; when the flatness difference value is larger than the deviation threshold value, the correction lettering instruction is used as a laser lettering 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 engraving device 1 is used for carrying out laser engraving on the tire 6A to be engraved according to a laser engraving instruction.
Specifically, in this embodiment, the laser marking device 1 may be a laser, and the type of the laser may be LSR445SD. 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 identification device 2 adopts the nanosecond flyer technology to identify the tire 6A to be engraved, the nanosecond flyer technology has the advantage of accurate positioning, and the probability of identification errors can be effectively reduced by adopting the nanosecond flyer technology to identify the tire 6A to be engraved, so that the guarantee is provided for improving the accuracy of laser engraving.
The control module 4 may be a control chip, which may be of the STM32F103C8T6 LQFP48 type.
According to the technical scheme, the identification character information and the three-dimensional scanning model are obtained through detection, an initial lettering instruction and a correction lettering instruction which comprise standard surface flatness and actual surface flatness are generated through the control module 4 according to the identification character information and the three-dimensional scanning model, the standard surface flatness and the actual surface flatness are compared with a deviation threshold value through the control module 4 after being subjected to difference, a laser lettering instruction is finally generated according to a comparison result, and when the laser lettering device 1 is used for lettering the tire 6A to be lettered according to the laser lettering instruction, the laser lettering effect of the tire can be effectively improved, the situation that lettering depth is different is avoided, and the yield of the tire is improved.
Preferably, the first generating unit 41 includes:
a storage subunit 411, configured to store a plurality of pairs of identification character information and standard parameters associated with each other, where the standard parameters include a standard surface flatness, a standard height, and a standard diameter;
a matching subunit 412, connected to the storage subunit 411, configured to match the identification character information in the storage subunit 411 to obtain a corresponding standard parameter;
a generating subunit 413, connected to the matching subunit 412, is configured to generate an initial lettering instruction according to the standard parameter.
Specifically, in the present embodiment, the storage subunit 411 is a storage space inside the control chip. The storage space is pre-stored with a plurality of pairs of mutually related identification character information and standard parameters. The matching subunit 412 matches the identification character information in the storage space to obtain corresponding standard parameters, so that the generating subunit 413 can generate an initial lettering instruction according to the standard surface flatness, the standard height and the standard diameter in the standard parameters.
Preferably, the second generating unit 42 includes:
an analysis subunit 421, configured to analyze the three-dimensional scan model to obtain an actual three-dimensional parameter of the three-dimensional scan model, where the actual three-dimensional parameter includes an actual height, an actual diameter, an actual surface flatness, and an upper surface dishing degree;
the processing subunit 422 is connected with the analysis subunit 421, and is configured to perform comprehensive processing according to the actual height, the actual diameter, and the upper surface dishing degree to obtain a 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 traversing distance of the rotary connecting seat according to the transverse adjusting instruction, and adjusts the rotation 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;
the comparing subunit 432 is connected with the operating subunit 431, and is configured to compare the three-dimensional detection score with a preset score threshold, and generate a correction marking 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 calculates the three-dimensional detection score by substituting the actual height, the actual diameter and the actual surface flatness into a preset operation formula, 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, indicating that the tire substantially meets the detection standard, the comparing subunit 432 may generate a correction marking instruction according to the actual height, the actual diameter and the actual surface flatness; when the three-dimensional detection score is not more than 60, the tire is not in accordance with the detection standard, and the control module 4 should generate a command to prompt that the tire cannot be subjected to laser inscription.
Preferably, the preset operation formula is configured as follows:
S=k*(h+b%*L+x%*L)+c*h 2 /L；
wherein S is used to represent 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 the actual surface flatness;
l is used to represent 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 the preset operation is performedThe formula is configured as: s=3 (h+7%l+x%. L) +5h 2 /L。
Preferably, the clamping device 6 comprises a conveying assembly and a pair of oppositely arranged clamping assemblies, the conveying assembly comprises a plurality of conveying rollers 61, a pair of oppositely arranged transmission belts 62 and a first driving motor 63, an output shaft of the first driving motor 63 is coaxially connected with one conveying roller 61, the plurality of conveying rollers 61 are mutually parallel, two ends of the plurality of conveying rollers 61 are rotatably connected to a bracket 60, the pair of transmission belts are synchronously connected with two ends of the plurality of conveying rollers 61, and a tire 6A to be engraved is placed at the upper end of the conveying rollers 61;
as shown in fig. 3, 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 limiting piece 69, wherein 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 with the screw rod 65, the sliding block 66 is screwed on the screw rod 65, the sliding block 66 is slidably connected in the limiting slide rail 67, the limiting slide rail 67 is located at the lower end of the screw rod 65, the limiting rod 68 is vertically connected at 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 limiting piece 69 is fixed at the top side end of the limiting rod 68, and the shape of the arc limiting piece 69 is matched with the shape of a rim of a tire 6A to be engraved.
Specifically, in this embodiment, the tire to be detected is placed at the upper end of the driving roller, and 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 driving 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 then the arc limiting piece 69 is driven to move towards the tire 6A to be engraved 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, the inner side of the arc-shaped limiting piece 69 is provided with a flexible buffer cushion, and the inner side of the flexible buffer cushion is provided with anti-slip lines.
In particular, in this embodiment, the flexible cushion may be made of a rubber material. Through setting up flexible blotter, promoted arc locating part 69 and the cushioning properties of waiting to detect the tire, make arc locating part 69 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 treat the skid resistance of detecting the tire, promoted the structural stability when laser is carved.
The control method of the tire laser marking robot is applied to the tire laser marking robot, as shown in fig. 4, and comprises the following steps:
step S1, the identification device 2 identifies the identification code to obtain identification character information;
step S2, the three-dimensional scanning device 3 performs 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 adjustment 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;
in step S4, the comparing unit 44 performs a difference between the standard surface flatness and the actual surface flatness to obtain a flatness difference, and determines whether the flatness is greater than a preset deviation threshold:
if not, the comparing unit 44 takes the initial lettering instruction as the laser lettering instruction, and goes to step S5;
if yes, the comparing unit 44 takes the correction lettering instruction as the laser lettering 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 rotary connecting seat according to the position adjusting instruction;
in step S6, the laser marking device 1 performs laser marking on the tire 6A to be marked according to the laser marking 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 the corresponding standard parameters in the storage subunit 411 according to the identification character information;
in step S33, the generating subunit 413 generates an initial lettering instruction according to the standard parameters.
Working principle:
the identification device 2 on the rotary connecting seat is started, and the identification code of the tire 6A to be engraved in the identification range is scanned to obtain identification character information, wherein the identification character information is used as an identity certificate of the tire 6A to be engraved and is associated with standard parameters of the tire of the model. Simultaneously, the three-dimensional scanning device 3 performs 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 contains 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 adjustment 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 makes a difference between 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 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 large, so that the laser engraving device 1 needs to be controlled to perform laser engraving on the tire by using the correction engraving instruction; when the difference in flatness is not more than 0.5, it is indicated that the deviation of the actual shape of the tire 6A to be engraved from the standard shape of the tire model is small, and thus it is necessary that the laser engraving device 1 can be controlled 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 examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (5)
1. The utility model provides a tire laser carving robot which characterized in that: the automatic engraving 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 engraved, and an identification code is preset on the upper surface of the tire (6A) to be engraved;
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 marking device (1), a recognition device (2) and a three-dimensional scanning device (3) are arranged on the rotary connecting seat, and the mechanical arm (5), the laser marking device (1), the recognition device (2) and the three-dimensional scanning device (3) are all in electric signal connection with a control module (4);
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:
a first generating unit (41) for generating an initial engraving instruction according to the identification character information, wherein the initial engraving instruction comprises the standard surface flatness of the tire (6A) to be engraved;
the first generation unit (41) includes:
a storage subunit (411) configured to store a plurality of pairs of said identification character information and standard parameters associated with each other, said standard parameters including said standard surface flatness, standard height, and standard diameter;
a matching subunit (412) connected to the storage subunit (411), and configured to match the identification character information in the storage subunit (411) to obtain the corresponding standard parameter;
-a generation subunit (413) connected to said matching subunit (412) for generating said initial lettering instruction according to said standard parameters;
a second generating unit (42) for generating a position adjustment instruction according to the three-dimensional scan model;
the second generation unit (42) includes:
an analysis subunit (421) configured to analyze the three-dimensional scan model to obtain actual three-dimensional parameters of the three-dimensional scan model, where the actual three-dimensional parameters include an actual height, an actual diameter, an actual surface flatness, and an upper surface dishing degree;
the processing subunit (422) is connected with the analysis subunit (421) and is used for comprehensively processing according to the actual height, the actual diameter and the upper surface depression degree to obtain the position adjustment instruction, and the position adjustment instruction comprises 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;
a third generating unit (43) for generating a correction and lettering instruction according to the three-dimensional scanning model, wherein the correction and lettering instruction comprises the actual surface flatness of the tire (6A) to be lettered;
the third generation unit (43) includes:
an operation subunit (431) connected to the analysis subunit (421) and configured to substitute the actual height, the actual diameter and the actual surface flatness into a preset operation formula to obtain a three-dimensional detection score;
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 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 larger than the score threshold value;
the comparison unit (44) is respectively connected with the first generation unit (41) and the third generation unit (43) and is used for obtaining a flatness difference value by making a difference between the standard surface flatness and the actual surface flatness, and taking the initial lettering instruction as a laser lettering instruction when the flatness difference value is not larger than a preset deviation threshold value; when the flatness difference value is larger than the deviation threshold value, the correction lettering instruction is used as the laser lettering instruction;
the mechanical arm (5) is used for adjusting the lifting height, the traversing distance and the rotating angle of the rotary connecting seat according to the position adjusting instruction;
the laser engraving device (1) is used for carrying out laser engraving on the tire (6A) to be engraved according to the laser engraving instruction.
2. The tire laser marking 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) and a first driving motor (63), the transmission belts are oppositely arranged, an output shaft of the first driving motor (63) is coaxially connected with one conveying roller (61), the plurality of conveying rollers (61) are mutually parallel, two ends of the plurality of conveying rollers (61) are rotatably connected to a bracket (60), the pair of transmission belts are synchronously connected with two ends of the plurality of conveying rollers (61), and a tire (6A) to be engraved is placed 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 sliding rail (67), a limiting rod (68) and an arc limiting piece (69), wherein 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 roller (61), 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 sliding rail (67), the limiting sliding rail (67) is located 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 the two adjacent conveying rollers (61), the arc limiting piece (69) is fixed at the top side end of the limiting rod (68), and the shape of the arc limiting piece (69) is matched with the shape of a tire (6A) to be engraved.
3. The tire laser marking robot of claim 2, wherein: the inner side of the arc-shaped limiting piece (69) is provided with a flexible buffer cushion, and the inner side of the flexible buffer cushion is provided with anti-slip lines.
4. A tire laser marking robot control method applied to the tire laser marking robot as claimed in any one of claims 1 to 3, characterized in that the tire laser marking robot control method comprises:
step S1, the identification device (2) identifies the identification code to obtain identification character information;
step S2, the three-dimensional scanning device (3) performs 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 adjustment 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 comparison unit (44) performs difference between the standard surface flatness and the actual surface flatness to obtain a flatness difference value, and judges whether the flatness is larger than a preset deviation threshold value:
if not, the comparison unit (44) takes the initial lettering instruction as a laser lettering instruction and transfers to the step S5;
if yes, the comparison unit (44) takes the correction lettering instruction as the laser lettering instruction and turns to the step S5;
s5, the mechanical arm (5) adjusts the lifting height, the transverse moving distance and the rotating angle of the rotary connecting seat according to the position adjusting instruction;
and S6, the laser engraving device (1) performs laser engraving on the tire (6A) to be engraved according to the laser engraving instruction.
5. The method for controlling a tire laser marking robot according to claim 4, wherein: the step S3 includes:
step S31, a storage subunit (411) stores a plurality of pairs of mutually associated identification character information and standard parameters;
step S32, a matching subunit (412) matches the identification character information in the storage subunit (411) to obtain the corresponding standard parameters;
step S33, a generating subunit (413) generates the initial lettering instruction according to the standard parameters.
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| CN115870629B (en) * | 2023-02-21 | 2023-05-16 | 飞天诚信科技股份有限公司 | Single-line font laser engraving method, device, equipment and medium |
| CN116503450A (en) * | 2023-03-20 | 2023-07-28 | 盐城工学院 | Tire marking method based on 3D visual positioning |
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| 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 |
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| 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 |
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| 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 |
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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 |
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