CN105034608A - Industrial robot laser marking machine - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及一种激光打标机领域，特别涉及一种工业机器人激光打标机。The invention relates to the field of laser marking machines, in particular to an industrial robot laser marking machine.
背景技术Background technique
随着科学技术的不断进步，激光加工技术得到迅猛发展，同时激光打标技术在激光加工领域作为一种新兴的先进制造技术。尤其是近年来计算机技术快速发展，光学器件逐步改进，激光器的可靠性和实用性不断提高等，都极快地促进了激光打标技术的发展，进一步扩大其在各行业领域的应用前景。激光打标技术是一种非接触、无污染、无损害的新型标记工艺，集激光技术、计算机技术和机电一体化技术为一身，也是目前激光加工技术应用最广泛的一项先进制造技术。With the continuous advancement of science and technology, laser processing technology has developed rapidly. At the same time, laser marking technology is an emerging advanced manufacturing technology in the field of laser processing. Especially in recent years, the rapid development of computer technology, the gradual improvement of optical devices, and the continuous improvement of the reliability and practicability of lasers have all rapidly promoted the development of laser marking technology and further expanded its application prospects in various industries. Laser marking technology is a new type of non-contact, non-polluting and non-damaging marking process. It integrates laser technology, computer technology and mechatronics technology. It is also the most widely used advanced manufacturing technology in laser processing technology.
当前，在冶金行业，多采用喷漆打标。这种打标方法，存在标记不牢，耗材量大，喷枪易堵，更严重的是污染环境。所以，发明更新的技术是首选。At present, in the metallurgical industry, spray paint marking is mostly used. This marking method has the disadvantages of poor marking, large amount of consumables, easy blockage of the spray gun, and more serious environmental pollution. Therefore, inventing newer technologies is the first choice.
在冶金行业在线打标是工艺的要求。由于冶金行业生产现场复杂，高温高热，目前多采用固定打标设备，且都需要人来操作，这是迫切需要改善的。Online marking in the metallurgical industry is a process requirement. Due to the complex production site and high temperature in the metallurgical industry, fixed marking equipment is mostly used at present, and all of them require people to operate, which urgently needs to be improved.
随着现代工业的快速发展，工业机器人具有高速、高精度、高智，仿人操作、可自动控制、重复编程、示教学习，并能在三维空间完成各种作业任务等特点，将快速进入各种生产线。工业机器人配上光纤激光器，可实现全方位、全自动的仿人操作打标，成为柔性制造系统((FMS)，这将是打标行业的一项技术创新。With the rapid development of modern industry, industrial robots have the characteristics of high speed, high precision, high intelligence, human-like operation, automatic control, repetitive programming, teaching and learning, and can complete various tasks in three-dimensional space. kind of production line. Industrial robots equipped with fiber lasers can realize all-round and fully automatic human-like operation marking and become a flexible manufacturing system (FMS), which will be a technological innovation in the marking industry.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种工业机器人激光打标机，用于冶金行业在线打标，代替人工操作，实现全方位、全自动的仿人操作打标，成为柔性制造系统((FMS)，并实现了物联网功能。The technical problem to be solved by the present invention is to provide an industrial robot laser marking machine, which is used for online marking in the metallurgical industry, replaces manual operation, and realizes all-round, fully automatic human-like operation marking, becoming a flexible manufacturing system ((FMS) ), and realize the Internet of things function.
为实现上述目的，本发明采用以下技术方案实现：To achieve the above object, the present invention adopts the following technical solutions:
一种工业机器人激光打标机，包括工业机器人机构及激光打标机，激光打标机连接在机器人手腕上，当待标记加工件进入激光打标单元后，机器人根据指令到达打标设定位置，启动激光打标机对待标记加工件打标，打标结束后机器人返回等待点；An industrial robot laser marking machine, including an industrial robot mechanism and a laser marking machine. The laser marking machine is connected to the wrist of the robot. When the workpiece to be marked enters the laser marking unit, the robot arrives at the marking set position according to the instruction , start the laser marking machine to mark the workpiece to be marked, and the robot returns to the waiting point after marking;
工业机器人激光打标机的控制系统，包括PLC控制系统，PLC控制系统通过现场总线与机器人控制系统和激光打标控制系统连接，PLC控制系统与激光测距单元、视觉平面测位单元、视觉检测识别单元及GPRS远程物联网系统相连，激光打标控制系统、视觉检测识别单元连接在计算机控制系统上，GPRS远程物联网系统通过专有的IP地址将数据发送给计算机控制系统。The control system of industrial robot laser marking machine, including PLC control system, PLC control system is connected with robot control system and laser marking control system through field bus, PLC control system and laser ranging unit, visual plane positioning unit, visual detection The identification unit is connected to the GPRS remote Internet of Things system, the laser marking control system, and the visual detection and identification unit are connected to the computer control system, and the GPRS remote Internet of Things system sends data to the computer control system through a proprietary IP address.
所述激光打标机，包括支撑板，支撑板上设有支架，支架上方设有弹性护罩，支架下方设有激光整理腔，激光整理腔下方设有反射镜盒，反射镜盒下方设有摄像头，反射镜盒与激光振镜系统连接，激光振镜系统下方设有镜罩。The laser marking machine includes a support plate, a support is provided on the support plate, an elastic shield is provided above the support, a laser finishing cavity is provided below the support, a mirror box is provided below the laser finishing cavity, and a mirror box is provided below the mirror box. The camera and mirror box are connected with the laser vibrating mirror system, and a mirror cover is arranged under the laser vibrating mirror system.
所述的激光打标控制系统，包括工控机，工控机连接采集板、驱动器及控制卡，采集板与摄像头连接，驱动器与X、Y运动控制系统连接，控制卡与激光振镜系统和激光发生器连接，X、Y运动控制系统和激光发生器连接在激光振镜系统上。The laser marking control system includes an industrial computer, the industrial computer is connected to the acquisition board, the driver and the control card, the acquisition board is connected to the camera, the driver is connected to the X, Y motion control system, the control card is connected to the laser vibrating mirror system and the laser generator The X, Y motion control system and the laser generator are connected to the laser galvanometer system.
与现有的技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
1)本发明采用光纤激光打标技术，用于冶金行业在线打标，其激光器体积小，功耗小，不耗材，且标记清晰牢固；1) The present invention adopts optical fiber laser marking technology for online marking in the metallurgical industry. The laser has small volume, low power consumption, no consumable materials, and clear and firm marking;
2)本发明采用工业机器人配上光纤激光器，可实现全方位、全自动的仿人操作打标，成为柔性制造系统((FMS)，这将是打标行业的一项技术创新；2) The present invention adopts an industrial robot equipped with a fiber laser, which can realize all-round and fully automatic human-like operation marking and become a flexible manufacturing system (FMS), which will be a technological innovation in the marking industry;
3)本发明通过现场总线配置有激光测距、视觉平面测位、视觉检测识别等子系统，实现了仿人工智能控制功能；3) The present invention is equipped with subsystems such as laser ranging, visual plane positioning, visual detection and recognition through the field bus, and realizes the imitation artificial intelligence control function;
4)本发明通过GPRS远程互联网IP地址的设置，实现了物联网功能。4) The present invention has realized the Internet of Things function by the setting of GPRS remote Internet IP address.
附图说明Description of drawings
图1是工业机器人激光打标机结构组成图。Figure 1 is a structural diagram of an industrial robot laser marking machine.
图2是激光打标机结构图。Figure 2 is a structural diagram of the laser marking machine.
图3是激光打标机激光光路系统图。Figure 3 is a diagram of the laser light path system of the laser marking machine.
图4是工业机器人激光打标机的控制系统图。Figure 4 is a control system diagram of an industrial robot laser marking machine.
图5是激光打标控制系统图。Figure 5 is a diagram of the laser marking control system.
图6是GPRS远程物联网无线传输系统图。Figure 6 is a diagram of the GPRS remote Internet of Things wireless transmission system.
图7是工业机器人激光打标机工作流程图Figure 7 is the working flow chart of the industrial robot laser marking machine
图中：1-底板2-工作台3-被加工件4-激光器连接盘5-机器人手腕6-机器人腕关节7-机器人激光器传输光纤及电缆8-机器人小臂9-机器人肘关节10-固定环11-机器人大臂12-臂关节13-机器人水平回转盘14-机器人机座In the figure: 1-base plate 2-worktable 3-workpiece 4-laser connection plate 5-robot wrist 6-robot wrist joint 7-robot laser transmission fiber and cable 8-robot arm 9-robot elbow joint 10-fixation Ring 11-Robot arm 12-Arm joint 13-Robot horizontal turntable 14-Robot base
100-激光打标机101-镜罩102-激光振镜系统103-反射镜盒104-激光整理腔100-Laser marking machine 101-Mirror cover 102-Laser galvanometer system 103-Mirror box 104-Laser finishing cavity
105-支架106-弹性护罩107-支撑板108-摄像头105-bracket 106-elastic shield 107-support plate 108-camera
102-1-X轴振镜电机102-2-X轴振镜102-3-Y轴振镜电机102-4--Y轴振镜102-1-X-axis galvanometer motor 102-2-X-axis galvanometer motor 102-3-Y-axis galvanometer motor 102-4--Y-axis galvanometer
102-5-激光扫描范围104-1-反射镜104-2-扩束系统104-3-动态聚焦系统102-5-laser scanning range 104-1-mirror 104-2-beam expander system 104-3-dynamic focusing system
102-1-X轴振镜电机102-2-X轴振镜102-3-Y轴振镜电机102-4--Y轴振镜102-1-X-axis galvanometer motor 102-2-X-axis galvanometer motor 102-3-Y-axis galvanometer motor 102-4--Y-axis galvanometer
102-5-激光扫描范围104-1-反射镜104-2-扩束系统104-3-动态聚焦系统102-5-laser scanning range 104-1-mirror 104-2-beam expander system 104-3-dynamic focusing system
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方式进一步说明：The specific embodiment of the present invention is further described below in conjunction with accompanying drawing:
如图1所示，工业机器人激光打标机，包括工业机器人及激光打标机100，工业机器人包括底板1，机器人机座14固定在底板1上，机器人水平回转盘13设置在机器人机座14上，机器人大臂11连接在机器人水平回转盘13上，机器人小臂8与机器人大臂11连接，机器人小臂8上设有机器人手腕5，激光打标机100通过激光器连接盘4连接在机器人手腕5上，激光打标机100下方的工作台2上放置被加工件3。As shown in Figure 1, the industrial robot laser marking machine includes an industrial robot and a laser marking machine 100, the industrial robot includes a base plate 1, the robot base 14 is fixed on the base plate 1, and the robot horizontal rotary table 13 is arranged on the robot base 14 Above, the robot arm 11 is connected to the robot horizontal turntable 13, the robot arm 8 is connected to the robot arm 11, the robot arm 8 is provided with a robot wrist 5, and the laser marking machine 100 is connected to the robot through the laser connection plate 4. On the wrist 5 , the workpiece 3 is placed on the workbench 2 below the laser marking machine 100 .
如图2所示，激光打标机100包括连接在激光器连接盘4的支撑板107，支撑板107上设有支架105，支架105上方设有弹性护罩106，支架105下方设有激光整理腔104，激光整理腔104下方设有反射镜盒104，反射镜盒104下方设有摄像头108，反射镜盒104与激光振镜系统102连接，激光振镜系统102下方设有镜罩101。As shown in Figure 2, the laser marking machine 100 includes a support plate 107 connected to the laser connection plate 4, a support plate 105 is provided on the support plate 107, an elastic shield 106 is provided above the support 105, and a laser finishing cavity is provided below the support 105 104, a mirror box 104 is provided under the laser finishing chamber 104, a camera 108 is provided under the mirror box 104, the mirror box 104 is connected with the laser vibrating mirror system 102, and a mirror cover 101 is provided under the laser vibrating mirror system 102.
如图3所示，激光打标机激光光路系统，包括与激光器传输光纤及电缆7连接的扩束系统104-2，扩束系统104-2连接动态聚焦系统104-3，动态聚焦系统104-3通过反射镜104-1将光反射到X轴振镜102-2和Y轴振镜102-4上，X轴振镜102-2由X轴振镜电机102-1驱动，Y轴振镜102-4由Y轴振镜电机102-3驱动。As shown in Figure 3, the laser optical path system of the laser marking machine includes a beam expansion system 104-2 connected to the laser transmission fiber and cable 7, the beam expansion system 104-2 is connected to the dynamic focusing system 104-3, and the dynamic focusing system 104- 3 Reflect the light to the X-axis vibrating mirror 102-2 and the Y-axis vibrating mirror 102-4 through the reflector 104-1, the X-axis vibrating mirror 102-2 is driven by the X-axis vibrating mirror motor 102-1, and the Y-axis vibrating mirror 102-4 is driven by the Y-axis vibrating mirror motor 102-3.
如图4所示，工业机器人激光打标机的控制系统Robot，包括PLC控制系统，PLC控制系统通过现场总线与机器人控制系统和激光打标控制系统连接，PLC控制系统与激光测距单元、视觉平面测位单元、视觉检测识别单元及GPRS远程物联网系统相连，激光打标控制系统、视觉检测识别单元连接在计算机控制系统上，GPRS远程物联网系统通过专有的IP地址将数据发送给计算机控制系统。As shown in Figure 4, the control system Robot of the industrial robot laser marking machine includes a PLC control system. The PLC control system is connected with the robot control system and the laser marking control system through the field bus. The plane positioning unit, visual detection and identification unit and GPRS remote Internet of Things system are connected. The laser marking control system and visual detection and identification unit are connected to the computer control system. The GPRS remote Internet of Things system sends data to the computer through a proprietary IP address. Control System.
如图5所示，激光打标控制系统，包括工控机，工控机连接采集板、驱动器及控制卡，采集板与摄像头连接，驱动器与X、Y运动控制系统连接，控制卡与激光振镜系统和激光发生器连接，X、Y运动控制系统和激光发生器连接在激光振镜系统上。As shown in Figure 5, the laser marking control system includes an industrial computer, the industrial computer is connected to the acquisition board, driver and control card, the acquisition board is connected to the camera, the driver is connected to the X, Y motion control system, and the control card is connected to the laser vibrating mirror system It is connected to the laser generator, and the X, Y motion control system and the laser generator are connected to the laser galvanometer system.
如图6所示，GPRS远程物联网系统，包括嵌入式微电脑，嵌入式微电脑与上电复位电路、时间电路、LCD显示屏及GPRS连接，GPRS连接SIM卡，嵌入式微电脑设有双USB通信接口及IP地址设置端口。As shown in Figure 6, the GPRS remote Internet of Things system includes an embedded microcomputer, the embedded microcomputer is connected with a power-on reset circuit, a time circuit, an LCD display and GPRS, GPRS is connected to a SIM card, and the embedded microcomputer is provided with a dual USB communication interface and IP address to set the port.
如图7所示，加工件进入激光打标单元，机器人进入等待区，计算机控制系统将工件打标信息转给PLC控制系统，当工件信息匹配，记录系统开始记录，机器人开始测激光功率，满足要求时，机器人到达打标设定点，启动激光打标控制系统，通过激光测距、视觉平面测位、视觉检测识别，机器人达到打标位置进行打标，标记识别正确后机器人返回等待点等待下一个待标记工件，GPRS发送系统将运行状态信息发送给上一级管理部门。As shown in Figure 7, the workpiece enters the laser marking unit, the robot enters the waiting area, and the computer control system transfers the workpiece marking information to the PLC control system. When the workpiece information matches, the recording system starts recording, and the robot begins to measure the laser power. When required, the robot reaches the marking set point and starts the laser marking control system. Through laser distance measurement, visual plane position measurement, and visual detection and identification, the robot reaches the marking position for marking. After the mark is recognized correctly, the robot returns to the waiting point and waits. For the next workpiece to be marked, the GPRS sending system sends the running status information to the upper management department.
上面所述仅是本发明的基本原理，并非对本发明作任何限制，凡是依据本发明对其进行等同变化和修饰，均在本专利技术保护方案的范畴之内。The above is only the basic principle of the present invention, and does not limit the present invention in any way. All equivalent changes and modifications according to the present invention are within the scope of the technical protection scheme of this patent.
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| CN110732784A (en) * | 2019-11-27 | 2020-01-31 | 上海感图网络科技有限公司 | An automatic laser marking device and method based on artificial intelligence technology |
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