The application provides a three-dimensional
laser etching method based on tire cylindrical coordinates, which establishes a plane design polar coordinate based on the shape characteristics of the tire in the design, gives a reference point coordinate and an
etching coordinate polar
radius and polar angle, obtains a polar
radius deviation value and a polar angle deviation value through operation to determine the relative plane position of the
etching point to the reference point; the polar coordinate is established on the tire conveying surface, the polar point is the center of the tire; the polar axis is established in the opposite direction by connecting the polar point and the projection point of the base coordinate origin of the
robot in the polar coordinate; the Z axis passes through the polar point, is perpendicular to the polar coordinate plane and faces upward to establish a three-dimensional cylindrical coordinate; based on the three-dimensional coordinate, the
robot performs 3D camera scanning and modeling; through calculation of the running coordinate of the sixth axis and the coordinate conversion with the base coordinate of the
robot, after the sixth axis center of the robot runs to the second center, the sixth axis is rotated by an angle to perform
laser etching.