Collaborative robotic marking automatic printing system and method

Abstract

The application relates to the technical field of mark printing, and discloses a collaborative robot mark automatic printing system and method, which comprises a collaborative robot, a workpiece placing table, an automatic printing machine and a controller, the collaborative robot is connected with a clamping assembly, the top of the workpiece placing table is detachably connected with a positioning mold, the automatic printing machine comprises a printing mechanism, each special spare part of the positioning mold and the printing mechanism is provided with an identification label, the workpiece placing table and the automatic printing machine are provided with a plurality of position detection targets, the collaborative robot is provided with a label reader and a position detection assembly, the printing mechanism is provided with a quality sensor, the position detection assembly comprises a camera, a direction sensor and a distance sensor, the automatic printing machine is fixedly connected with a state indicating lamp, and the application has the effects of improving the quality and efficiency of mark printing.

Description

Technical Field

[0001] This application relates to the technical field of marking and printing, and in particular to a collaborative robot marking automatic printing system and method. Background Technology

[0002] In the printing industry, product marking is currently mainly done manually by hand using paint pens or by manually placing the product to be printed in a designated location. However, marking is not simply a matter of identical patterns meeting production requirements. Each product must have precisely measured line thickness and placement within the tolerances of the production process, and the paint uniformity of each mark must meet specific requirements. This places extremely high demands on the printing process.

[0003] As can be seen from the above-mentioned technologies, existing marking and printing methods suffer from low production quality and efficiency. Summary of the Invention

[0004] To improve the quality and efficiency of marking printing, this application provides a collaborative robot marking automatic printing system and method.

[0005] The first objective of this invention is achieved by the following technical solution:

[0006] A collaborative robot-marked automatic printing system includes a collaborative robot, a workpiece placement platform, an automatic printing machine, and a controller for controlling the collaborative robot-marked automatic printing system. The collaborative robot is connected to a clamping component for holding the workpiece to be printed. A positioning mold for placing the workpiece to be printed is detachably connected to the top of the workpiece placement platform. The automatic printing machine includes a printing mechanism. Each dedicated spare part of the positioning mold and the printing mechanism is equipped with an identification tag. Both the workpiece placement platform and the automatic printing machine are equipped with several position detection targets. The collaborative robot is equipped with a tag reader for non-contact reading of identification tag information and a position detection component for measuring the position of the position detection targets. The printing mechanism is equipped with a quality sensor for detecting printing quality. The position detection component includes a camera, a direction sensor, and a distance sensor. A status indicator light is fixedly connected to the automatic printing machine.

[0007] By adopting the above technical solution, the collaborative robot marking and printing system includes a collaborative robot, a workpiece placement platform, and an automatic printing machine. The top of the workpiece placement platform is detachably connected to a positioning mold, facilitating the placement of different types of workpieces to be printed by installing different models of positioning molds. The collaborative robot is connected to a clamping component for holding the workpieces to be printed, which clamps the workpieces placed on the positioning molds and transfers them to the automatic printing machine. The printing mechanism then completes the automatic printing process on the workpieces. Each dedicated spare part of the positioning mold and printing mechanism is equipped with an identification label. Since different models of positioning molds and dedicated spare parts may be used when processing different types of workpieces or printing different patterns on the workpieces, the identification labels contain the identification information of the positioning molds and dedicated spare parts to distinguish between models. The system is equipped with various functions, including a label reader for the collaborative robot to identify the models of dedicated spare parts and positioning molds during the automatic printing process, thus determining whether the collaborative robot marking and printing system is properly configured for automatic printing. Both the workpiece placement table and the automatic printing machine are equipped with several position detection targets, and the collaborative robot is also equipped with a position detection component. This allows for the determination of the positions of the workpiece placement table and the automatic printing machine relative to the collaborative robot by detecting the positions of these targets, thereby improving the accuracy of the collaborative robot's movements when transferring workpieces to be printed. The printing mechanism is equipped with quality sensors to detect whether the finished printed workpieces meet quality standards. The automatic printing machine is fixedly connected to status indicator lights, which emit different light signals according to the operating status of the collaborative robot marking and printing system, thereby improving the production quality and efficiency of automatic printing.

[0008] In a preferred embodiment of this application, the quality sensor is a color sensor, and the detection direction of the quality sensor is set opposite to the marking printing position on the workpiece to be printed.

[0009] By adopting the above technical solution, the quality sensor is a color sensor, which facilitates the identification of the marking color printed on the workpiece to be printed, detects the automatic printing quality, and adjusts the equipment in a timely manner when the automatic printing quality is found to be unqualified, thereby improving the automatic printing quality.

[0010] In a preferred embodiment of this application, the dedicated spare parts of the printing mechanism include an ink cup for holding ink, a brush head for printing ink, and a marking pattern plate for controlling the printed pattern, each of which can be detachably connected to the printing mechanism.

[0011] By adopting the above technical solution, the special spare parts of the printing mechanism include ink cups, brush heads, and marking pattern plates. Since different colors and types of inks, different types of brush heads, and marking pattern plates for printing different patterns may be used when printing different models of workpieces or different patterns, each special spare part can be detachably connected to the printing mechanism, making it easy to replace when different patterns or workpieces need to be printed, thereby improving the applicability of the printing mechanism.

[0012] In a preferred embodiment of this application, the workpiece placement platform is provided with a start button and an emergency stop button on the side away from the collaborative robot for controlling the collaborative robot's automatic marking and printing system.

[0013] By adopting the above technical solution, the side of the workpiece placement platform away from the collaborative robot is the workstation for personnel. Therefore, a start button and an emergency stop button for controlling the collaborative robot marking automatic printing system are set on the side of the workpiece placement platform closer to the personnel's workstation. This makes it easier for the staff to control the working status of the collaborative robot marking automatic printing system so that adjustments can be made in a timely manner when abnormalities occur.

[0014] The second objective of this application is achieved by the following technical solution:

[0015] A collaborative robot-marked automatic printing method, comprising:

[0016] Identify the marking information of the positioning mold, and determine the model information of the workpiece to be printed based on the marking information of the positioning mold;

[0017] Based on the model information, the corresponding printing control program and production plan information are matched from the printing program library, and the printing control program is sent to the control modules of the collaborative robot and the automatic printing machine.

[0018] Obtain production spare parts information and production inspection information for each printing station, match the production spare parts information and production inspection information with the production plan information respectively, and generate matching result information;

[0019] If the matching result is a failure, a corresponding warning signal is generated based on the failed matching item and sent to the controller.

[0020] By adopting the above technical solution, the model information of the workpiece to be printed is determined based on the identification information of the positioning mold. Since different models of workpieces have different structures and required printing patterns, it is necessary to control the collaborative robot to grip and transport the workpieces with different motion trajectories. Furthermore, the types of inks and printing patterns required by the automatic printing machine also differ. Therefore, after determining the model information of the workpiece, the corresponding printing control program and production plan information are matched from the printing program library based on the model information. This allows the collaborative robot and automatic printing machine to perform automatic printing based on the printing control program, reducing the need for manual equipment adjustments. This reduces workload and improves production efficiency. It acquires production spare parts information and production inspection information for each printing station, and matches this information with the production plan information to determine whether the spare parts currently used at each printing station meet the printing requirements in the production plan, and whether the finished and semi-finished products produced by each printing station meet the printing requirements in the production plan, generating matching result information. If any item in the production spare parts information or production inspection information does not match the production plan information, a corresponding warning signal is generated based on the failed match and sent to the controller so that staff can adjust the equipment accordingly.

[0021] In a preferred embodiment, prior to the step of sending the printing control program to the control modules of the collaborative robot and the automatic printing press, this application further includes:

[0022] Measure the position information of the collaborative robot, positioning mold and automatic printing machine, and calculate the relative position data of material picking and printing based on the position information of the collaborative robot;

[0023] Obtain the equipment size parameters, and create a collision model based on the material picking relative position data, printing relative position data, and equipment size parameters;

[0024] Update the printing control program based on the collision model.

[0025] By adopting the above technical solution, when using collaborative robots, positioning molds, and automatic printing machines to perform automatic marking printing, the relative positions of the collaborative robots, positioning molds, and automatic printing machines may change during equipment debugging, and the replacement of spare parts may cause changes in the dimensional parameters of each device. Therefore, it is necessary to update the printing control program; measure the position information of the collaborative robots, positioning molds, and automatic printing machines to calculate the relative positions of the positioning molds and automatic printing machines relative to the collaborative robots, and obtain material picking relative position data and printing relative position data; obtain the device dimensional parameters, and create a new collision model based on the material picking relative position data and printing relative position data; update the printing control program based on the collision model to improve the positional accuracy of the collaborative robots during material picking and printing, and reduce the possibility of collisions between the collaborative robots and positioning molds and automatic printing machines.

[0026] In a preferred example, this application includes the following steps in measuring the position information of a collaborative robot, a positioning mold, and an automatic printing machine:

[0027] Receive location data update instructions and send them to the location detection component, acquire device images, and identify detection points from the device images;

[0028] The distance and direction data of each detection point are measured, and the position information of the collaborative robot, positioning mold and automatic printing machine are calculated based on the position information of the position detection component.

[0029] By adopting the above technical solution, when a position data update command is received, the command is sent to the position detection component, which then captures images of each device and identifies detection points from the device images, facilitating subsequent measurement of the position of each detection point. The position detection component measures the distance and direction data of each detection point relative to itself, thereby determining the position of each detection point relative to the component. Based on the positions of each detection point relative to the component and the position information of the component, the position information of the collaborative robot, the positioning mold, and the automatic printing machine are calculated.

[0030] In a preferred embodiment of this application: the production planning information includes model information of the special spare parts required for printing the current workpiece to be printed; the step of obtaining the production spare parts information and production inspection information of each printing station, and matching the production spare parts information and production inspection information with the production planning information to generate matching result information includes:

[0031] Identify the identification information of all special spare parts at each printing station, and determine the model information of each special spare part based on the identification information of each special spare part in order to generate production spare parts information;

[0032] The production spare parts information is matched with the production plan information to generate matching result information.

[0033] By adopting the above technical solution, a label reader reads all identification labels corresponding to each printing station one by one, identifies the identification information of all special spare parts in each printing station, and determines the model information of the special spare parts based on the identification information of the special spare parts. Among them, the production plan information records the model information of the special spare parts required for printing the current workpiece. The production spare parts information is matched with the production plan information to determine whether the special spare parts installed on the automatic printing machine meet the printing requirements of the current workpiece, thereby generating a matching result. This facilitates the replacement of special spare parts that do not meet the production plan requirements of the current workpiece, improving the efficiency of equipment debugging.

[0034] The third objective of this invention is achieved by the following technical solution:

[0035] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described collaborative robot marking automatic printing method.

[0036] The fourth objective of this invention is achieved by the following technical solution:

[0037] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described collaborative robot automatic marking printing method.

[0038] In summary, this application includes at least one of the following beneficial technical effects:

[0039] 1. A collaborative robot marking and printing system includes a collaborative robot, a workpiece placement platform, and an automatic printing machine. The workpiece placement platform has a detachable positioning mold on its top, facilitating the placement of different types of workpieces to be printed by installing different models of positioning molds. The collaborative robot is connected to a clamping component for holding the workpieces to be printed, which clamps the workpieces placed on the positioning molds and transfers them to the automatic printing machine. The printing mechanism then completes the automatic printing process. Each dedicated spare part of the positioning mold and printing mechanism is equipped with an identification label. Since different models of positioning molds and dedicated spare parts may be used when processing different types of workpieces or printing different patterns on them, the identification labels contain the identification information of the positioning molds and dedicated spare parts to distinguish their models. The robot is equipped with a label reader to identify the models of dedicated spare parts and positioning molds during the automatic printing process, thus determining whether the collaborative robot marking and printing system has been adjusted to the state required for automatic printing. Both the workpiece placement table and the automatic printing machine are equipped with several position detection targets, and the collaborative robot is also equipped with a position detection component. This allows for the determination of the positions of the workpiece placement table and the automatic printing machine relative to the collaborative robot by detecting the positions of these targets, thereby improving the accuracy of the collaborative robot's movements when transferring workpieces to be printed. The printing mechanism is equipped with quality sensors to detect whether the quality of the finished printed workpieces is up to standard. The automatic printing machine is fixedly connected to status indicator lights, which emit different light signals according to the operating status of the collaborative robot marking and printing system, thereby improving the production quality and efficiency of automatic printing.

[0040] 2. By identifying the markings on the positioning mold, the model information of the corresponding workpiece to be printed is determined based on the mold used. Since different models of workpieces have different structures and require different printing patterns, the collaborative robot needs to be controlled to grip and transport the workpieces using different motion trajectories. Furthermore, the types of inks and printing patterns required by the automatic printing machine also differ. Therefore, after determining the model information of the workpiece, the corresponding printing control program and production plan information are matched from the printing program library based on the model information. This allows the collaborative robot and automatic printing machine to perform automatic printing based on the printing control program, reducing the workload of manual equipment debugging. This improves production efficiency; it acquires production spare parts information and production inspection information for each printing station, and matches this information with the production plan information to determine whether the spare parts currently used at each printing station meet the printing requirements in the production plan information, and whether the finished and semi-finished products produced by each printing station meet the printing requirements in the production plan information, generating matching result information; if any item in the production spare parts information or production inspection information does not match the production plan information, a corresponding warning signal is generated based on the failed match item and sent to the controller so that the staff can adjust the equipment according to the warning signal.

[0041] 3. When using collaborative robots, positioning molds, and automatic printing machines to perform automatic marking printing, the relative positions of these components may change during equipment debugging, and replacement of spare parts may alter the dimensional parameters of each device. Therefore, it is necessary to update the printing control program. This involves measuring the positional information of the collaborative robot, positioning mold, and automatic printing machine to calculate their relative positions to the collaborative robot, obtaining material handling relative position data and printing relative position data. The program also includes acquiring equipment dimensional parameters and creating a new collision model based on the material handling and printing relative position data. The printing control program is then updated based on this collision model to improve the positional accuracy of the collaborative robot during material handling and printing, and to reduce the likelihood of collisions between the collaborative robot and the positioning mold or automatic printing machine. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the collaborative robot marking automatic printing system in Embodiment 1 of this application.

[0043] Figure 2 This is a schematic diagram of the collaborative robot marking automatic printing system of this application from another perspective.

[0044] Figure 3 yes Figure 1 A magnified view of part A in the middle.

[0045] Figure 4 This is a flowchart of the collaborative robot automatic label printing method in Embodiment 2 of this application.

[0046] Figure 5 This is a flowchart of step S20 in the collaborative robot label automatic printing method of this application.

[0047] Figure 6 This is a flowchart of step S21 in the collaborative robot automatic printing method for marking in this application.

[0048] Figure 7 This is a flowchart of step S30 in the collaborative robot label automatic printing method of this application.

[0049] Figure 8 This is a schematic diagram of the device in Embodiment 3 of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. Collaborative robot; 11. Fixed base; 12. Robot body; 13. Clamping assembly; 14. Position detection assembly; 2. Workpiece placement table; 21. Positioning mold; 22. Start button; 23. Emergency stop button; 3. Automatic printing machine; 31. Printing mechanism; 32. Quality sensor; 311. Ink cup; 312. Brush head; 313. Marking pattern plate; 4. Control device compartment; 41. Control panel; 5. Status indicator light. Detailed Implementation

[0052] The following is in conjunction with the appendix Figures 1 to 8 This application will be described in further detail.

[0053] Example 1

[0054] like Figure 1 and Figure 2 As shown, this application discloses an automatic marking printing system using a collaborative robot 1, including a collaborative robot 1, a workpiece placement table 2, an automatic printing machine 3, a control device compartment 4, and status indicator lights 5. The workpiece placement table 2 is used to place the workpiece to be printed. The collaborative robot 1 is used to clamp the workpiece to be printed and transfer it from the workpiece placement table 2 to the printing station of the automatic printing machine 3. The automatic printing machine 3 is used to perform automatic printing of the workpiece to be printed. The control device compartment 4 is equipped with a controller (not shown in the figure) for controlling the working status of each electrical device in the automatic marking printing system using the collaborative robot 1. The controller sends corresponding indication signals to the status indicator lights 5 according to the working status of the automatic marking printing system using the collaborative robot 1. The status indicator lights 5 are used to emit corresponding light signals according to the received indication signals so that the operator can know the working status of the automatic marking printing system using the collaborative robot 1.

[0055] The collaborative robot 1 includes a fixed base 11, a robot body 12, and a clamping assembly 13. The fixed base 11 is fixedly connected to the printing workshop to fix the position of the collaborative robot 1 and support other components of the collaborative robot 1. One end of the robot body 12 is fixedly connected to the fixed base 11. In this embodiment, the robot body 12 is a six-axis robot with six degrees of freedom to improve the flexibility of the collaborative robot 1's movements. In other embodiments of this application, robots with other numbers of axes and degrees of freedom can also be used. The selection of the robot body 12 is based on the principle of being able to transfer the workpiece to be printed. The clamping assembly 13 is detachably connected to the end of the robot body 12 away from the fixed base 11 and is used to clamp the workpiece to be printed. The specific structure of the clamping assembly 13 can be determined according to the structure of the workpiece to be printed. The detachable connection method facilitates the selection of the appropriate clamping assembly 13 according to the replacement of the workpiece to be printed.

[0056] A positioning mold 21 is detachably connected to the top of the workpiece placement platform 2 for placing the workpiece to be printed. The specific structure of the positioning mold 21 can be determined according to the structure of the workpiece to be printed. The detachable connection method facilitates the selection of the appropriate positioning mold 21 according to the replacement of the workpiece to be printed. The positioning mold 21 is provided with an identification tag (not shown in the figure) for writing the identification information of the positioning mold 21, wherein the identification information is used to record the model information of the positioning mold 21. The collaborative robot 1 is provided with a tag reader for non-contact reading of the identification tag information. In this embodiment, the identification tag is an RFID tag, and the tag reader (not shown in the figure) is an RFID reader / writer to achieve non-contact reading of the identification information. If necessary, information such as the remaining service life information can also be written into the identification tag according to actual needs. In other embodiments of this application, the identification tag and the tag reader can also be made using other types of wireless communication technology devices, such as Bluetooth technology devices, NFC technology devices, etc.

[0057] like Figure 2 and Figure 3As shown, the automatic printing machine 3 is equipped with several printing mechanisms 31. In this embodiment, there are two printing mechanisms 31, and each printing mechanism 31 is a pad printing mechanism. The number of printing mechanisms 31 can be determined according to the number of processes when printing on the workpiece to be printed. The type of printing mechanism 31 can be determined according to the printing requirements of the workpiece to be printed. Since pad printing mechanisms are existing technology, this embodiment does not limit the specific structure of the printing mechanism 31. Several special spare parts are detachably connected to the printing mechanism 31. The special spare parts refer to the special parts of the printing mechanism 31 used when printing a batch of workpieces to be printed. When the workpiece to be printed changes or the printing pattern changes, all or part of the special spare parts need to be replaced. Each special spare part can be detachably connected to the printing mechanism 31. The detachable connection method facilitates the adjustment of the printing mechanism 31 according to the specific printing requirements of the workpiece to be printed. The corresponding special spare parts are replaced as needed. In this embodiment, the special spare parts include an ink cup 311 for holding ink, a brush head 312 for printing ink, and a marking pattern plate 313 for controlling the printing pattern. Each special spare part of the printing mechanism 31 is provided with an identification label for writing the identification information of the special spare part, wherein the identification information is used to record the model information of the special spare part. Furthermore, the clamping component 13 can also be provided with an identification label that records its model information. Since different types of workpieces to be printed or different patterns need to be printed on the workpieces to be printed, different models of positioning molds 21 and special spare parts may be used. Therefore, the setting of identification labels and label readers makes it easy to determine the model of the special spare parts and positioning molds 21 currently used in the automatic printing process, so as to determine whether the collaborative robot 1 marking printing system has been adjusted to the state required to perform automatic printing work.

[0058] Both the workpiece placement platform 2 and the automatic printing machine 3 are equipped with several position detection targets (not shown in the figure). The position detection targets can be prisms or reflective stickers. Each position detection target is set at a corner of the workpiece placement platform 2 and the automatic printing machine 3 to mark their positions. The robot body 12 is fixedly connected to a position detection component 14 for measuring the position of the position detection targets. The position detection component 14 includes a camera, a direction sensor, and a distance sensor. In this embodiment, the direction sensor is a gyroscope used to detect the direction of the position detection component 14. The distance sensor is a photoelectric rangefinder, specifically a laser rangefinder or an infrared rangefinder. This facilitates the subsequent calculation of the positions of the workpiece placement platform 2 and the automatic printing machine 3 relative to the collaborative robot 1 based on the installation position information of the collaborative robot 1 and the position information of each position detection target measured by the position detection component 14. This allows for the correction of the motion trajectory of the collaborative robot 1 to improve the accuracy of its movements when transferring the workpiece to be printed.

[0059] The printing mechanism 31 is connected to a quality sensor 32 for detecting printing quality. The quality sensor 32 is a color sensor, and the detection direction of the quality sensor 32 is set to face the printing position of the mark on the workpiece to be printed. This facilitates the identification of the color of the mark printed on the workpiece by the color sensor, detects the automatic printing quality, and adjusts the equipment in time when the automatic printing quality is found to be unqualified, thereby improving the automatic printing quality.

[0060] The control device compartment 4 is fixedly connected to the automatic printing machine 3. The controller in the control device compartment 4 is used to store and run the control program of the collaborative robot 1 marking automatic printing system. The control device compartment 4 is fixedly connected to a control panel 41 for realizing human-machine interaction. In this embodiment, the control panel 41 is a touch screen so that the operator can control the operation of the collaborative robot 1 marking automatic printing system through the control panel 41.

[0061] The status indicator light 5 is fixedly connected to the automatic printing machine 3, and the status indicator light 5 is electrically connected to the controller so as to receive the indication signal from the controller and emit the corresponding light signal.

[0062] On the side of the workpiece placement platform 2 away from the collaborative robot 1, there is a start button 22 and an emergency stop button 23 for controlling the automatic marking and printing system of the collaborative robot 1, and both the start button 22 and the emergency stop button 23 are electrically connected to the controller. The side of the workpiece placement platform 2 away from the collaborative robot 1 is the workstation when the personnel are working. On the side of the workpiece placement platform 2 close to the personnel's workstation, there is a start button 22 and an emergency stop button 23 for controlling the automatic marking and printing system of the collaborative robot 1, so that the personnel can control the working status of the automatic marking and printing system of the collaborative robot 1 and make timely adjustments when the automatic marking and printing system of the collaborative robot 1 malfunctions.

[0063] Example 2

[0064] This application discloses an automatic label printing method for collaborative robots, which can be used to develop a control program for an automatic label printing system for collaborative robots and can be applied to the automatic label printing system for collaborative robots in Embodiment 1. The control program developed according to the automatic label printing method for collaborative robots in this embodiment can be stored in the controller in Embodiment 1 and executed by the controller.

[0065] like Figure 4 As shown, the collaborative robot automatic marking printing method specifically includes the following steps:

[0066] S10: Identify the marking information of the positioning mold, and determine the model information of the workpiece to be printed based on the marking information of the positioning mold.

[0067] In this embodiment, the identification information of the positioning mold refers to the information stored in the identification tag of the positioning mold. Each positioning mold identification tag stores unique identification information. Specifically, the identification information of the positioning mold may include the positioning mold model, positioning mold number and the corresponding workpiece model to be printed, so as to distinguish the positioning mold according to the identification information.

[0068] Specifically, the identification information in the identification tag of the positioning mold is read by the tag reader on the collaborative robot, thereby determining the model of the positioning mold and the model information of the workpiece to be printed corresponding to the positioning mold.

[0069] S20: Based on the model information, match the corresponding printing control program and production plan information from the printing program library, and send the printing control program to the control modules of the collaborative robot and the automatic printing machine.

[0070] Because different models of workpieces to be printed have different structures, it is necessary to control collaborative robots to clamp and transport the workpieces to be printed with different motion trajectories. Even for the same type of workpiece, the patterns and output required for printing may vary between different batches of products. Therefore, the types of inks and printing patterns required by automatic printing machines also vary.

[0071] In this embodiment, the printing program library refers to a database used to store printing control programs for printing various types of workpieces to be printed; the printing control programs are used to control the movement trajectory and movement time of each moving part in the collaborative robot and automatic printing machine; the production plan information refers to information used to record the output, printing pattern, color and other technical requirements of the batch of workpieces to be printed.

[0072] Specifically, after obtaining the model information of the workpiece to be printed, the model information is input into the search engine in the printing program library to match the printing control program corresponding to the model of the workpiece to be printed; the printing control program is sent to the control modules of the collaborative robot and the automatic printing machine so that the collaborative robot and the automatic printing machine can perform automatic printing work based on the printing control program, which reduces the workload of manual debugging of equipment and thus improves production efficiency; in this embodiment, the control modules of the collaborative robot and the automatic printing machine are controllers in the control device compartment.

[0073] Specifically, based on the model information, the production volume, printing pattern, color, and other technical requirements of the workpiece to be printed in this batch are determined from the production schedule to generate production plan information.

[0074] Reference Figure 5 Prior to the step of sending the printing control program to the control modules of the collaborative robot and the automatic printing press, the method further includes:

[0075] S21: Measure the position information of the collaborative robot, positioning mold and automatic printing machine, and calculate the relative position data of material picking and printing based on the position information of the collaborative robot.

[0076] When using collaborative robots, positioning molds, and automatic printing machines to perform automatic marking printing, the relative positions of the collaborative robots, positioning molds, and automatic printing machines may change during equipment debugging, and the replacement of spare parts may cause changes in the dimensional parameters of each device. Therefore, it is necessary to update the printing control program.

[0077] In this embodiment, the material picking relative position data refers to the position information of the positioning mold relative to the collaborative robot; the printing relative position data refers to the position information of the printing mechanism of the automatic printing machine relative to the collaborative robot.

[0078] Specifically, after matching the corresponding printing control program from the printing program library, before sending the printing control program to the control modules of the collaborative robot and the automatic printing machine, it is necessary to measure the position information of the collaborative robot, the positioning mold, and the automatic printing machine. The position detection component set on the collaborative robot detects the position detection target installed on the workpiece placement table and the automatic printing machine. Based on the known dimensional parameters of each component on the workpiece placement table and the automatic printing machine, the relative positions of the positioning mold and the printing mechanism relative to the collaborative robot are calculated. Based on the relative position information of the positioning mold and the printing mechanism relative to the collaborative robot, the material picking relative position data and the printing relative position data are calculated, which facilitates the subsequent correction of the printing control program.

[0079] Furthermore, in other embodiments of this application, the position detection component can also be set on the workpiece placement table or the automatic printing machine according to actual needs, and the position detection target can be set on the collaborative robot.

[0080] Reference Figure 6 The control module for measuring the position information of the collaborative robot, the positioning mold, and the automatic printing machine includes the following steps:

[0081] S211: Receive location data update instructions and send them to the location detection component, acquire device images, and identify detection points from the device images.

[0082] In this embodiment, the position data update instruction refers to the instruction used to control the collaborative robot marking automatic printing system to re-detect the position data of the workpiece placement table and the automatic printing machine relative to the collaborative robot; the position data update instruction is automatically generated each time the collaborative robot marking automatic printing system replaces a component; the equipment image refers to the image captured by the camera of the position detection component; the detection point refers to the installation position of the position detection target.

[0083] Specifically, when a location data update command is received, the command is sent to the location detection component, which then captures images of each device and identifies detection points from the device images, facilitating subsequent measurement of the location of each detection point.

[0084] S212: Measure the distance and direction data of each detection point, and calculate the position information of the collaborative robot, positioning mold and automatic printing machine based on the position information of the position detection component.

[0085] Specifically, the method for position detection of the position detection target is as follows: the installation position of the collaborative robot is used as the position reference point. The position of the position detection target is determined and aligned with the camera of the position detection component. The angle of the current position detection component is obtained through the orientation sensor. Then, the distance between the position detection component and the position detection target is detected through the distance sensor. Since the size parameters of the collaborative robot are easy to know, the relative position information between the position detection component and the installation position of the collaborative robot can be obtained, thereby obtaining the relative position of the positioning mold and the printing mechanism relative to the collaborative robot.

[0086] S22: Obtain equipment size parameters, and create a collision model based on material picking relative position data, printing relative position data, and equipment size parameters.

[0087] In this embodiment, the equipment size parameters refer to the size parameters of the collaborative robot, the workpiece placement table, and the automatic printing machine, including the size parameters of each component.

[0088] Specifically, the equipment size parameters are obtained, and models of the collaborative robot, workpiece placement table, and automatic printing machine are constructed based on the equipment size parameters. The relative position data of material picking and printing are obtained in order to determine the relative positions between the collaborative robot, workpiece placement table, and automatic printing machine, thereby creating / updating the collision model.

[0089] S23: Update the printing control program based on the collision model.

[0090] Specifically, based on the new collision model, the movement trajectory of the collaborative robot when transferring workpieces to be printed is optimized, thereby updating the printing control program to improve the positional accuracy of the collaborative robot during material picking and printing, and reduce the possibility of collisions between the collaborative robot and the positioning mold or automatic printing machine.

[0091] S30: Obtain production spare parts information and production inspection information for each printing station, match the production spare parts information and production inspection information with the production plan information respectively, and generate matching result information.

[0092] In this embodiment, each printing unit corresponds to one printing station; production spare parts information refers to the information of the special spare parts currently used by the printing station, including model information, serial number information, remaining service life information, etc.; production inspection information refers to the information obtained by inspecting the printing quality of the workpiece to be printed after printing at the printing station.

[0093] Specifically, the system acquires production spare parts information and production inspection information for each printing station, matches the production spare parts information with the production plan information to determine whether the spare parts currently used by each printing station meet the printing requirements in the production plan information; it also matches the production inspection information with the production plan information to determine whether the finished and semi-finished products currently produced by each printing station meet the printing requirements in the production plan information; and generates matching result information based on the matching results of the production spare parts information, production inspection information, and production plan information.

[0094] Reference Figure 7 The production planning information includes the model information of the special spare parts required for printing the current workpiece; step S30 includes:

[0095] S31: Identify the identification information of all special spare parts at each printing station, and determine the model information of each special spare part based on the identification information of each special spare part in order to generate production spare parts information.

[0096] Specifically, the label reader reads all the identification labels corresponding to each printing station one by one, identifies the identification information of all special spare parts in each printing station, and determines the model information corresponding to the special spare parts based on the identification information of the special spare parts, thereby generating production spare parts information.

[0097] S32: Match production spare parts information with production plan information to generate matching result information.

[0098] In this embodiment, the production plan information records the model information of the special spare parts required for printing the current workpiece to be printed.

[0099] Specifically, the spare parts information is matched with the production plan information to determine whether the special spare parts installed on the current automatic printing machine meet the printing requirements of the current workpiece to be printed. This generates a matching result, which makes it easier for staff to replace special spare parts that do not meet the production plan requirements of the current workpiece to be printed, thereby improving the efficiency of equipment debugging.

[0100] S40: If the matching result is a match failure, generate a corresponding warning signal based on the failed item and send it to the controller.

[0101] In this embodiment, if the matching results of both production spare parts information and production testing information are qualified, the generated matching result information is "matching successful" and no equipment adjustment is required; if the matching result of any sub-item in the production spare parts information or production testing information is unqualified, the generated matching result information is "matching failed" and the specific item that failed to match is recorded.

[0102] Specifically, based on the items that failed to match, a corresponding warning signal is generated and sent to the controller so that the staff can adjust the equipment according to the warning signal. At the same time, according to the current working status of the collaborative robot marking automatic printing system, a corresponding indication signal is sent to the status indicator light. The status indicator light is used to emit a corresponding light signal according to the received indication signal so that the staff can know the working status of the collaborative robot marking automatic printing system.

[0103] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0104] Example 3

[0105] A computer device, which may be a server, has an internal structure diagram as shown below. Figure 8 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data such as identification information, model information, printing control programs, production plan information, production spare parts information, production inspection information, matching result information, and warning signals. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements an automated printing method for collaborative robot marking.

[0106] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0107] S10: Identify the marking information of the positioning mold, and determine the model information of the workpiece to be printed based on the marking information of the positioning mold;

[0108] S20: Based on the model information, match the corresponding printing control program and production plan information from the printing program library, and send the printing control program to the control module of the collaborative robot and the automatic printing machine;

[0109] S30: Obtain production spare parts information and production inspection information for each printing station, match the production spare parts information and production inspection information with the production plan information respectively, and generate matching result information;

[0110] S40: If the matching result is a match failure, generate a corresponding warning signal based on the failed item and send it to the controller.

[0111] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0112] S10: Identify the marking information of the positioning mold, and determine the model information of the workpiece to be printed based on the marking information of the positioning mold;

[0113] S20: Based on the model information, match the corresponding printing control program and production plan information from the printing program library, and send the printing control program to the control module of the collaborative robot and the automatic printing machine;

[0114] S30: Obtain production spare parts information and production inspection information for each printing station, match the production spare parts information and production inspection information with the production plan information respectively, and generate matching result information;

[0115] S40: If the matching result is a match failure, generate a corresponding warning signal based on the failed item and send it to the controller.

[0116] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchlink, DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0118] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A collaborative robot-based automatic marking and printing system, characterized in that: The system includes a collaborative robot (1), a workpiece placement platform (2), an automatic printing machine (3), and a controller for controlling the collaborative robot (1) to mark the automatic printing system. The collaborative robot (1) is connected to a clamping assembly (13) for clamping the workpiece to be printed. The top of the workpiece placement platform (2) is detachably connected to a positioning mold (21) for placing the workpiece to be printed. The automatic printing machine (3) includes a printing mechanism (31). Each special spare part of the positioning mold (21) and the printing mechanism (31) is equipped with an identification label. Several position detection targets are provided at each corner of the workpiece placement platform (2) and the automatic printing machine (3). The position detection targets are specifically one of a prism or a reflective sticker. The robot (1) is equipped with a tag reader for non-contact reading and identification of tag information and a position detection component (14) for measuring the position of the target. The printing mechanism (31) is equipped with a quality sensor (32) for detecting printing quality. The quality sensor (32) is a color sensor. The detection direction of the quality sensor (32) is set to the mark printing position on the workpiece to be printed. The position detection component (14) includes a camera, a direction sensor and a distance sensor. The position detection component (14) is used to measure the distance data and direction data of each of the position detection targets relative to the position detection component (14). The automatic printing machine (3) is fixedly connected with a status indicator light (5). The controller uses the installation position of the collaborative robot (1) as the position reference point and calculates the relative positions of the workpiece placement platform (2) and the automatic printing machine (3) relative to the collaborative robot (1) based on the distance data and the direction data. A collision model is created based on the relative position and equipment size parameters, and the material picking and printing motion trajectory of the collaborative robot (1) is corrected based on the collision model.

2. The collaborative robot marking automatic printing system according to claim 1, characterized in that: The special spare parts of the printing mechanism (31) include an ink cup (311) for holding ink, a brush head (312) for printing ink, and a marking pattern plate (313) for controlling the printing pattern. Each special spare part can be detachably connected to the printing mechanism (31).

3. The collaborative robot marking automatic printing system according to claim 1, characterized in that: The workpiece placement platform (2) is provided with a start button (22) and an emergency stop button (23) on the side away from the collaborative robot (1) for controlling the automatic printing system of the collaborative robot (1).

4. A method for automatic printing of collaborative robot labels, employing the automatic printing system for collaborative robot labels as described in claim 1, characterized in that, include: Identify the marking information of the positioning mold, and determine the model information of the workpiece to be printed based on the marking information of the positioning mold; Based on the model information, the corresponding printing control program and production plan information are matched from the printing program library, and the printing control program is sent to the control modules of the collaborative robot and the automatic printing machine. Obtain production spare parts information and production inspection information for each printing station. The production spare parts information includes the model information and remaining service life information of special spare parts obtained through label readers. The production spare parts information and production testing information are matched with the production plan information respectively to generate matching result information; If the matching result is a match failure, a corresponding warning signal is generated based on the failed matching item and sent to the controller. Prior to the step of sending the printing control program to the control modules of the collaborative robot and the automatic printing machine, the method further includes: Measure the position information of the collaborative robot, positioning mold and automatic printing machine, and calculate the relative position data of material picking and printing based on the position information of the collaborative robot; Obtain the equipment size parameters, and create a collision model based on the material picking relative position data, printing relative position data, and equipment size parameters; Update the printing control program based on the collision model.

5. The method for automatic printing of collaborative robot markings according to claim 4, characterized in that: The steps for measuring the position information of collaborative robots, positioning molds, and automatic printing machines include: Receive location data update instructions and send them to the location detection component, acquire device images, and identify detection points from the device images; The distance and direction data of each detection point are measured, and the position information of the collaborative robot, positioning mold and automatic printing machine are calculated based on the position information of the position detection component.

6. The method for automatic printing of collaborative robot markings according to claim 4, characterized in that: The production plan information includes the model information of the special spare parts required for printing the current workpieces to be printed; The steps of obtaining production spare parts information and production inspection information for each printing station, and matching the production spare parts information and production inspection information with the production plan information to generate matching result information include: Identify the identification information of all special spare parts at each printing station, and determine the model information of each special spare part based on the identification information of each special spare part in order to generate production spare parts information; The production spare parts information is matched with the production plan information to generate matching result information.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the collaborative robot marking automatic printing method as described in any one of claims 4 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the collaborative robot marking automatic printing method as described in any one of claims 4 to 6.

Images