A device and method for automatically positioning and marking a characteristic surface of a rotary body type initiating explosive

Abstract

A kind of automatic positioning and marking device for characteristic surface of rotary body type initiating explosive device includes machine table, tray, four-axis manipulator, double-station pneumatic gripper, three-jaw chuck, servo motor, CCD vision camera, code scanner, brush, dust collector, laser and control system, etc.Artificially places rotary body type initiating explosive device on the tray, four-axis manipulator drives double-station pneumatic gripper to hold two initiating explosive devices and moves to three-jaw chuck, servo motor drives three-jaw chuck to drive initiating explosive device to rotate, CCD vision camera shoots and positions characteristic surface in real time, completes two-dimensional code scanning and laser marking after positioning;four-axis manipulator transfers initiating explosive device after marking to original loading position of tray, double-station pneumatic gripper regrasps two initiating explosive devices to be marked after four-axis manipulator adjusts grasping coordinates, to complete marking of whole batch of materials reciprocally.The application improves laser marking efficiency of initiating explosive device and information level of marking process, ensures quality consistency and reduces labor intensity.

Description

Technical Field

[0001] This invention relates to an automatic positioning and marking device and method for the feature surfaces of rotating pyrotechnics, which is applicable to the automatic identification, positioning and laser marking of the feature surfaces of rotating pyrotechnics. It can also scan the QR code information of the pyrotechnics and record it one-to-one with the pyrotechnic marking information, belonging to the field of pyrotechnic marking. Background Technology

[0002] As crucial components of projectiles, rockets, satellites, and ships, the quality and reliability of pyrotechnics are of paramount importance. To facilitate product quality traceability, markings are typically laser-engraved on a characteristic surface of the pyrotechnic, such as... Figure 1 As shown, the feature surface is generally a perforated plane on one of six sides. The markings are typically placed on three faces adjacent to the feature surface. The markings include the product code, product batch number, and serial number, with each of these three items marked on one of the three faces. Additionally, if the machined pyrotechnic parts have QR codes, the QR code information must be recorded in a one-to-one correspondence with the pyrotechnic part marking information.

[0003] Currently, laser marking machines in China are widely used for marking various metal and non-metal materials. These laser marking machines have been basically standardized. However, their working mode involves fixing the workpiece to be marked with a three-jaw chuck or positioning fixture, manually adjusting the workpiece marking position relative to the laser to achieve workpiece feature surface positioning, and then carrying out laser marking on the workpiece.

[0004] Most existing standardized laser marking machines in China do not integrate QR code scanning functionality. Since some machined parts of pyrotechnics have QR codes on their surfaces, containing information such as part serial numbers, these QR codes uniquely identify the parts and require traceability recording. After standardized laser marking is used to mark these pyrotechnics, the marking information still needs to be manually entered into column A of an Excel spreadsheet. Then, a handheld barcode scanner is used to scan the QR code information on the pyrotechnic parts, and the identified QR code information is entered into column B of the Excel spreadsheet. This ensures a one-to-one correspondence between the marking information and the QR code information, achieving traceability of the parts used in the pyrotechnic.

[0005] The above-mentioned working mode, which involves manually identifying and adjusting the feature surfaces of pyrotechnic products and manually scanning and inputting QR codes and product identification information, suffers from problems such as low efficiency of laser marking, inconsistent quality, and lagging information technology level. It can no longer meet the high-quality requirements of pyrotechnic products, nor can it meet the needs of the ever-increasing production volume. Summary of the Invention

[0006] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide an automatic positioning and marking device and method for the feature surfaces of rotating pyrotechnic products. This device can automatically feed materials, automatically position the feature surfaces of rotating pyrotechnic products, and automatically record QR codes and product identification information as needed. This improves the efficiency of laser marking of rotating pyrotechnic products and the level of informatization in the marking process, ensures consistent quality, and reduces the intensity of manual labor.

[0007] The technical solution of this invention is: an automatic positioning and marking device and method for the feature surfaces of rotating pyrotechnic products. The device includes: a four-axis manipulator, a dual-station pneumatic gripper, a three-jaw chuck, a chuck servo motor, a CCD vision camera, a barcode scanner, a vacuum cleaner, a laser, a gripper cylinder, a brush servo motor, a brush cylinder, and a control system for controlling the above mechanisms, as well as a machine base, a material tray, an axial positioning plate, a brush, a rubber pad, a V-block, and a base; wherein:

[0008] The machine is equipped with horizontally arranged slots, and the material tray is installed in the slots. A photoelectric switch is installed in the slot to detect whether the material tray is installed in place.

[0009] The four-axis robot is connected to the machine platform via a base; the dual-station pneumatic gripper is connected to the end of the four-axis robot via a base. Each gripper of the dual-station pneumatic gripper is fixed on a gripper cylinder, and each gripper has two opposing V-shaped blocks at its end, with rubber pads on the V-shaped blocks.

[0010] The chuck servo motor is mounted on the machine base, and the three-jaw chuck is integrated into the drive end of the chuck servo motor. After the three-jaw chuck clamps the material, the control system controls the drive end of the chuck servo motor to rotate, driving the rotating pyrotechnic product to rotate and complete the marking and engraving. The axial positioning plate is placed flat on the three-jaw chuck to support the rotating pyrotechnic product and make it adapt to the height of the jaws.

[0011] The CCD vision camera, barcode scanner, brush, vacuum cleaner, and laser are circumferentially distributed around the three-jaw chuck and rigidly connected to the machine base. The relative installation positions of the CCD vision camera and the laser are at a certain angle.

[0012] The brush cylinder is mounted on the machine base, the brush servo motor is fixed on the piston of the brush cylinder, and the brush is fixed on the drive end of the brush servo motor. When working, the piston of the brush cylinder extends, and the brush servo motor drives the brush to rotate to achieve the function of cleaning the marking surface. The excess material cleaned is sucked out by the vacuum cleaner.

[0013] Preferably, the two ends of the rotating pyrotechnic item are external cylindrical or externally threaded structures, and the middle is a hexagonal protrusion. Multiple through holes are arranged horizontally and vertically on the material tray for placing the rotating pyrotechnic item. The external cylindrical or externally threaded parts of the rotating pyrotechnic item and the through holes of the material tray achieve radial constraint through hole-shaft cooperation. The hexagonal end face of the protrusion of the rotating pyrotechnic item and the edge of the through holes of the material tray achieve axial constraint through cooperation.

[0014] Preferably, the dual-station pneumatic gripper is designed with a clamping force of (10~30) N·m, a stroke of (20~26) mm, and a V-block clamping length of (8~15) mm, which is suitable for rotating pyrotechnic products with a diameter of (10~25) mm.

[0015] Preferably, the three-jaw chuck has an opening size of φ(60~80)mm, a stroke of (35~40)mm, and a rotational positioning accuracy of ±0.02°.

[0016] Preferably, the edge of the axial positioning plate is designed with three grooves to avoid the jaws of the three-jaw chuck and to accommodate the radial retraction stroke of the jaws.

[0017] Preferably, the CCD vision camera is a monochrome area array camera with at least 12 million pixels, and the matching light source is a ring-shaped white light source.

[0018] Preferably, the laser wavelength is (1064±5) nm.

[0019] The preferred operating mode of the automatic identification, positioning, and marking device for the feature surfaces of rotating pyrotechnic items is as follows:

[0020] S1. Manually place the rotating pyrotechnic item to be labeled vertically into the through hole of the material tray;

[0021] S2. The control system sends a clamping signal to the four-axis robot, causing the four-axis robot to drive the dual-station pneumatic gripper to clamp two rotating pyrotechnic items and move them to the three-jaw chuck. After the control system detects that the rotating pyrotechnic items are in place, it drives the jaws of the three-jaw chuck to radially retract and clamp the rotating pyrotechnic items.

[0022] S3. After the control system detects that the three-jaw chuck has clamped the rotating pyrotechnic, it sends a rotation signal to the chuck servo motor, causing the chuck servo motor to drive the three-jaw chuck to rotate 360°. During the rotation, the CCD vision camera captures the outer contour image of the rotating pyrotechnic in real time and sends it to the control system. The control system compares the acquired outer contour image with the feature surface image preset by the control system. When the same image is captured, the control system stops the chuck servo motor from rotating, thus completing the feature surface positioning.

[0023] S4. After the feature surface is positioned, the control system drives the chuck servo motor to continue rotating. During the rotation, the barcode scanner reads the information in the QR code of the rotating pyrotechnic product and stores it in the database.

[0024] S5. After the QR code is read, the control system drives the chuck servo motor to continue rotating so that the first marking face, which is at a certain angle to the feature surface, is aligned with the laser. The laser then completes the marking of the first face, "Product Code". The control system drives the chuck servo motor to continue rotating so that the second marking face of the rotating pyrotechnic product is aligned with the laser, completing the marking of the second face, "Batch Number". Then the control system drives the chuck servo motor to continue rotating so that the third marking face of the rotating pyrotechnic product is aligned with the laser, completing the marking of the third face, "Serial Number". This process is repeated to complete the marking of three adjacent faces on six sides.

[0025] S6. After the markings on the three sides are completed, the control system drives the piston of the brush cylinder to extend and sends a rotation signal to the brush servo motor to make it rotate the brush and complete the cleaning of the marked positions.

[0026] S7. After cleaning is completed, the control system sends a clamping signal to the dual-station pneumatic gripper, so that one of the grippers clamps the marked rotating pyrotechnic item, and then places the rotating pyrotechnic item on the other gripper onto the three-jaw chuck. Repeat S3 to S6 to complete the feature surface identification and marking of the second rotating pyrotechnic item.

[0027] S8. After the two rotating pyrotechnic items are marked, the control system sends a clamping signal to the dual-station pneumatic gripper, so that the dual-station pneumatic gripper clamps the second rotating pyrotechnic item that has been marked, and transfers the two marked rotating pyrotechnic items to the original loading position of the material tray and places them there. The control system also sends a coordinate adjustment signal to the four-axis robot, so that the four-axis robot adjusts the coordinate position of the gripper to grip the two unmarked rotating pyrotechnic items.

[0028] S9. Repeat S2 to S8 until the entire batch of materials is labeled.

[0029] Preferably, the vacuum cleaner remains operational throughout the entire operation.

[0030] Preferably, the labeling content for each face is manually input into the control system in advance. The labeling content for the first and second faces is fixed, while the labeling content for the third face is a serial number. The serial number is not fixed and automatically increments during the labeling process. The labeling content for the three faces is stored in the database, and the read QR code information is recorded one-to-one with the labeling content.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] (1) This invention uses CCD visual recognition feature matching positioning to automatically determine the position of the feature surface of rotating pyrotechnic products and rotates the corresponding angle according to the position of the feature surface to complete the laser marking. Compared with manual visual positioning, the marking position is more consistent and the marking efficiency is higher, which reduces the intensity of manual labor.

[0033] (2) The present invention records the laser marking content and QR code information one by one, reducing the risk of errors in manual input, ensuring the quality of pyrotechnic products, and effectively improving the informatization level of the pyrotechnic product production process. Attached Figure Description

[0034] Figure 1 A schematic diagram showing the location of characteristic surfaces and markings on rotating pyrotechnic products;

[0035] Figure 2 Diagram showing the fit between rotating pyrotechnic components and a material tray;

[0036] Figure 3 This is a layout diagram of the overall scheme of the present invention;

[0037] Figure 4 This is a schematic diagram of the dual-station gripper of the present invention;

[0038] Figure 5 This is a layout diagram of the workstations for the present invention. Detailed Implementation

[0039] like Figure 3 , 4 As shown in Figure 5, the automatic positioning and marking device for the feature surface of rotating pyrotechnic products of the present invention includes a machine base 1, a material tray 2, a four-axis manipulator 3, a dual-station pneumatic gripper 4, a three-jaw chuck 5, a chuck servo motor 6, an axial positioning plate 7, a CCD vision camera 8, a barcode scanner 9, a brush 10, a vacuum cleaner 11, a laser 12, a polyethylene plastic rubber pad 13, a V-block 14, a nut 15, a gripper cylinder 16, a base 17, a brush servo motor 18, a brush cylinder 19, and a control system.

[0040] The control system is used to control the operation of each mechanism;

[0041] All components, except for the four-axis robot 3, are arranged horizontally on the machine platform; the material tray 2 and the other components except for the four-axis robot 3 are arranged in a left-right layout; the machine platform 1 is equipped with horizontally arranged slots, the material tray 2 is installed in the slots, and photoelectric switches are installed in the slots to detect whether the material tray is installed in place;

[0042] The four-axis robot 3 is placed above the machine base 1 and connected to the machine base 1 via a base; the dual-station pneumatic gripper 4 is connected to the end of the four-axis robot 3 via a base 17. Each gripper of the dual-station pneumatic gripper 4 is fixed on a gripper cylinder 16. Each gripper of the dual-station pneumatic gripper 4 has two opposing V-shaped blocks 14 at its end. The V-shaped opening is 120°. There are polyethylene plastic rubber pads 13 on the V-shaped blocks 14.

[0043] The chuck servo motor 6 is mounted on the machine base 1. The three-jaw chuck 5 is integrated into the drive end of the chuck servo motor 6. After the three-jaw chuck 5 clamps the material, the drive end of the chuck servo motor 6 rotates to complete the rotational marking of the rotating pyrotechnic product. The axial positioning plate 7 is placed flat on the three-jaw chuck 5 to support the rotating pyrotechnic product and make it adapt to the height of the jaws. The edge of the axial positioning plate 7 is designed with three grooves to avoid the jaws of the three-jaw chuck 5 and to adapt to the radial retraction stroke of the jaws. The axial constraint of the rotating pyrotechnic product can be achieved by replacing / combining axial positioning plates 7 of different thicknesses.

[0044] The CCD vision camera 8, barcode scanner 9, brush 10, vacuum cleaner 11 and laser 12 are circumferentially distributed around the three-jaw chuck 5 and rigidly connected to the machine base 1 by bolts and other means. The relative installation angle between the CCD vision camera 8 and the laser 12 is 60°.

[0045] A brush cylinder 19 is installed on the machine base. The brush 10 is fixed to the drive end of the brush servo motor 18. The brush servo motor 18 is fixed on the piston of the brush cylinder 19. When the brush 10 needs to work, the piston of the brush cylinder 19 extends, and the brush 10 rotates under the action of the brush servo motor 18 to achieve the cleaning function. The excess material swept out is sucked out by the vacuum cleaner 11 to ensure the cleanliness of the marked area.

[0046] The rotating pyrotechnic device has external cylindrical or external threaded structures at both ends and a hexagonal protrusion in the middle. The included angle between the six surfaces is 60°. Multiple through holes are arranged horizontally and vertically on the material tray 2 to place the rotating pyrotechnic device. The external cylindrical or external thread of the rotating pyrotechnic device and the through holes of the material tray 2 achieve radial constraint through hole-shaft cooperation. The hexagonal end face of the protrusion of the rotating pyrotechnic device and the edge of the through hole of the material tray 2 achieve axial constraint through cooperation.

[0047] The dual-station pneumatic gripper has a clamping force of 10 N·m, a stroke of 26 mm, and a 120° V-block clamping length of 8 mm. It is suitable for rotating pyrotechnics with a diameter of φ(10~25) mm and meets the clamping and fixing requirements of common pyrotechnics.

[0048] The three-jaw chuck has an opening size of φ80mm, a stroke of 35mm, and a rotational positioning accuracy of ±0.02°, meeting the clamping and fixing requirements of common pyrotechnic items.

[0049] The axial positioning plate 7 has three thickness gradients: 1mm, 2mm and 5mm.

[0050] The CCD vision camera 8 is a monochrome area array camera with at least 12 million pixels, and the matching light source adopts a ring white light source. Its pixels and light source can meet the requirements for the recognition of the feature surfaces of pyrotechnic products.

[0051] Laser 12 is a 20W fiber laser with a wavelength of (1064±5)nm, and its performance parameters meet the requirements for pyrotechnic marking.

[0052] The location of characteristic surfaces and markings of rotating pyrotechnic items are as follows: Figure 1 As shown, the automatic marking and marking process for the characteristic surfaces of rotating pyrotechnic items is as follows:

[0053] The rotating pyrotechnic item is manually placed vertically into the through hole of the material tray 2;

[0054] The control system sends a clamping signal to the four-axis robot 3, causing the four-axis robot 3 to drive the dual-station pneumatic gripper 4 to clamp two rotating pyrotechnic items and move one of them to the three-jaw chuck 5. After the control system detects that the pyrotechnic item is in place, it drives the jaws of the three-jaw chuck 5 to retract radially and clamp the pyrotechnic item.

[0055] After the control system detects that the three-jaw chuck 5 has clamped the rotating pyrotechnic item, it sends a rotation signal to the chuck servo motor 6, causing the chuck servo motor 6 to drive the three-jaw chuck 5 to rotate 360°. During the rotation, the CCD vision camera 8 captures the outer contour image of the rotating pyrotechnic item in real time and sends it to the control system. The control system compares the acquired outer contour image with the feature surface image preset by the control system. When the same image is captured, the control system stops the chuck servo motor 6 from rotating, completing the feature surface positioning.

[0056] After the feature surface is positioned, the control system drives the chuck servo motor 6 to continue rotating. During the rotation, the barcode scanner 9 reads the information in the QR code of the rotating pyrotechnic product and stores it in the database.

[0057] After the QR code is read, the chuck servo motor 6 continues to rotate so that the CCD vision camera 8 is aligned with the feature surface of the rotating pyrotechnic product. At this time, the first surface to be marked, which is at a 60° angle with the feature surface, is aligned with the laser 12. The laser 12 completes the marking of the "product code" on the first surface. After the first surface is marked, the chuck servo motor 6 continues to rotate 60° so that the second surface to be marked on the rotating pyrotechnic product is aligned with the laser 12. The laser 12 completes the marking of the "batch number" on the second surface. Then the chuck servo motor 6 rotates another 60° so that the third surface to be marked on the rotating pyrotechnic product is aligned with the laser 12. Similarly, the marking of the "serial number" on the third surface is completed. This process is repeated to mark three adjacent surfaces of the six-sided product.

[0058] The label information for each face is manually entered into the device system, stored in the database, and recorded one-to-one with the QR code information just read.

[0059] After the three sides are marked, the control system drives the brush cylinder 19 to extend the brush 10 and sends a rotation signal to the brush servo motor 18 to make it rotate the brush 10, thus completing the cleaning of the marked position.

[0060] After cleaning is completed, the control system sends a clamping signal to the dual-station pneumatic gripper 4, so that one of the grippers of the dual-station pneumatic gripper 4 clamps the marked rotating pyrotechnic item, and then places the other rotating pyrotechnic item on the three-jaw chuck 5. The feature surface identification and marking of the second pyrotechnic item on the dual-station pneumatic gripper 4 is completed according to the above process.

[0061] After the two pyrotechnic items are marked, the control system sends a clamping signal to the dual-station pneumatic gripper 4, so that the dual-station pneumatic gripper 4 clamps the second rotating pyrotechnic item that has been marked, and transfers the two marked pyrotechnic items to the original feeding position of the material tray 2. The marked pyrotechnic items are placed, and then the control system sends a coordinate adjustment signal to the four-axis robot 3, so that the four-axis robot 3 adjusts its coordinate position.

[0062] The control system drives the dual-station pneumatic gripper 4 to grip the other two ignition devices on the material tray 2 according to the coordinate position adjusted by the four-axis robot 3, repeating this process until the entire batch of materials is labeled. A diagram showing the interaction between the rotating ignition device and the material tray is shown below. Figure 2 As shown. Throughout the entire operation, the vacuum cleaner 11 remains operational to ensure the marked environment is clean.

[0063] This invention proposes an automatic positioning and marking device and method for the feature surfaces of rotating pyrotechnic products. It can automatically feed materials, automatically position the feature surfaces of rotating pyrotechnic products and complete laser marking, and automatically record QR codes and product identification information as needed. This invention improves the efficiency of laser marking of rotating pyrotechnic products, ensures quality consistency, reduces manual labor intensity, and enhances the informatization level of the marking process of rotating pyrotechnic products.

[0064] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. An automatic positioning and marking device for the characteristic surface of a rotating pyrotechnic item, characterized in that: include The system comprises a four-axis robotic arm (3), a dual-station pneumatic gripper (4), a three-jaw chuck (5), a chuck servo motor (6), a CCD vision camera (8), a barcode scanner (9), a vacuum cleaner (11), a laser (12), a gripper cylinder (16), a brush servo motor (18), a brush cylinder (19), and a control system for the above mechanisms, as well as a machine base (1), a tray (2), an axial positioning plate (7), a brush (10), a rubber pad (13), a V-block (14), and a base (17); wherein: The machine (1) is equipped with horizontally arranged slots, and the material tray (2) is installed on the slots. A photoelectric switch is installed on the slots to detect whether the material tray is installed in place. The four-axis manipulator (3) is connected to the machine tool (1) via a base; the dual-station pneumatic gripper (4) is connected to the end of the four-axis manipulator (3) via a base (17). Each gripper of the dual-station pneumatic gripper (4) is fixed on a gripper cylinder (16), and each gripper has two opposing V-shaped blocks (14) at its end, with rubber pads (13) on the V-shaped blocks (14). The chuck servo motor (6) is installed on the machine base (1), and the three-jaw chuck (5) is integrated into the drive end of the chuck servo motor (6). After the three-jaw chuck (5) clamps the material, the control system controls the drive end of the chuck servo motor (6) to rotate, thereby rotating the pyrotechnic product to complete the marking and engraving. The axial positioning plate (7) is placed flat on the three-jaw chuck (5) to support the pyrotechnic product and make it adapt to the height of the jaws. The CCD vision camera (8), barcode scanner (9), brush (10), vacuum cleaner (11) and laser (12) are circumferentially distributed around the three-jaw chuck (5) and rigidly connected to the machine base (1). The relative installation positions of the CCD vision camera (8) and the laser (12) are at a certain angle. The brush cylinder (19) is installed on the machine base (1), the brush servo motor (18) is fixed on the piston of the brush cylinder (19), and the brush (10) is fixed on the drive end of the brush servo motor (18). When working, the piston of the brush cylinder (19) extends, and the brush servo motor (18) drives the brush (10) to rotate to realize the marking surface cleaning function. The excess material cleaned is sucked out by the vacuum cleaner (11). The rotating pyrotechnics have cylindrical or threaded ends and a hexagonal protrusion in the middle. The material tray (2) has multiple through holes arranged horizontally and vertically for placing the rotating pyrotechnics. The cylindrical or threaded ends of the rotating pyrotechnics are radially constrained by the through holes of the material tray (2) through the hole-shaft fit. The hexagonal end face of the protrusion of the rotating pyrotechnics is axially constrained by the fit between the through holes of the material tray (2). The edge of the axial positioning plate (7) is designed with three grooves to avoid the jaws of the three-jaw chuck (5) and to accommodate the radial retraction of the jaws. The laser (12) has a wavelength of 1064nm ± 5nm.

2. The automatic positioning and marking device for the characteristic surface of a rotating pyrotechnic item according to claim 1, characterized in that: The dual-station pneumatic gripper (4) is designed to have a clamping force of 10N. m~30N m, the double-station pneumatic gripper (4) has a stroke design of 20mm~26mm, and the V-block (14) has a clamping length of 8mm~15mm, which is suitable for rotating pyrotechnic products with a diameter of φ10mm~φ25mm.

3. The automatic positioning and marking device for the characteristic surface of a rotating pyrotechnic item according to claim 1, characterized in that: The three-jaw chuck (5) has an opening size of φ60mm~φ80mm, a stroke of 35mm~40mm, and a rotational positioning accuracy of ±0.02°.

4. The automatic positioning and marking device for the characteristic surface of a rotating pyrotechnic item according to claim 1, characterized in that: The CCD vision camera (8) is a black and white area array camera with at least 12 million pixels, and the matching light source is a ring white light source.

5. The automatic positioning and marking method of the feature surface of a rotating pyrotechnic item using the automatic positioning and marking device for feature surfaces as described in claim 1, characterized in that: S1. Manually place the rotating pyrotechnic item to be labeled vertically into the through hole of the material tray (2); S2. The control system sends a clamping signal to the four-axis manipulator (3), causing the four-axis manipulator (3) to drive the dual-station pneumatic gripper (4) to clamp two rotating pyrotechnic items and move one of them to the three-jaw chuck (5). After the control system detects that the rotating pyrotechnic item is in place, it drives the jaws of the three-jaw chuck (5) to radially retract and clamp the rotating pyrotechnic item. S3. After the control system detects that the three-jaw chuck (5) clamps the rotating pyrotechnic, it sends a rotation signal to the chuck servo motor (6) so that the chuck servo motor (6) drives the three-jaw chuck (5) to rotate 360°. During the rotation, the CCD vision camera (8) captures the outer contour image of the rotating pyrotechnic in real time and sends it to the control system. The control system compares the acquired outer contour image with the feature surface image preset by the control system. When the same image is captured, the control system stops the chuck servo motor (6) from rotating and completes the feature surface positioning. S4. After the feature surface is positioned, the control system drives the chuck servo motor (6) to continue rotating. During the rotation, the barcode scanner (9) reads the information in the QR code of the rotating pyrotechnic product and stores it in the database. S5. After the QR code is read, the control system drives the chuck servo motor (6) to continue rotating so that the first surface to be marked, which is at a certain angle to the feature surface, is aligned with the laser (12). The laser (12) completes the marking of the first surface with the "product code". The control system drives the chuck servo motor (6) to continue rotating so that the second surface to be marked of the rotating pyrotechnic product is aligned with the laser (12) and the marking of the second surface with the "batch number" is completed. Then the control system drives the chuck servo motor (6) to continue rotating so that the third surface to be marked of the rotating pyrotechnic product is aligned with the laser (12) and the marking of the third surface with the "serial number" is completed. This completes the marking of three adjacent surfaces in six aspects. S6. After the markings on the three surfaces are completed, the control system drives the piston of the brush cylinder (19) to extend and sends a rotation signal to the brush servo motor (18) to make it drive the brush (10) to rotate, thus completing the cleaning of the marking positions; S7. After cleaning is completed, the control system sends a clamping signal to the dual-station pneumatic gripper (4) so ​​that one of the grippers in the dual-station pneumatic gripper (4) clamps the marked rotary pyrotechnic workpiece, and then places the rotary pyrotechnic workpiece on the other gripper onto the three-jaw chuck (5). Repeat S3~S6 to complete the feature surface identification and marking of the second rotary pyrotechnic workpiece. S8. After the two rotating pyrotechnic items are marked, the control system sends a clamping signal to the dual-station pneumatic gripper (4) so ​​that the dual-station pneumatic gripper (4) clamps the second rotating pyrotechnic item that has been marked and transfers the two marked rotating pyrotechnic items to the original loading position of the material tray (2) and places them there. The control system also sends a coordinate adjustment signal to the four-axis robot (3) so that the four-axis robot (3) adjusts the coordinate position of the gripper to grip the two unmarked rotating pyrotechnic items. S9. Repeat S2~S8 until the entire batch of materials is labeled.

6. The method according to claim 5, characterized in that: The vacuum cleaner (11) remained operational throughout the entire operation.

7. The method according to claim 5, characterized in that: The labeling content for each face is manually entered into the control system in advance. The labeling content for the first and second faces is fixed, while the labeling content for the third face is a serial number, which is not fixed. The serial number automatically increments during the labeling process. The labeling content for the three faces is stored in the database, and the read QR code information is recorded one-to-one with the labeling content.

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