Automatic number scanning system and automatic number scanning method

Abstract

The invention provides an automatic number scanning system and an automatic number scanning method, and relates to the field of automatic number scanning equipment, and the automatic number scanning system comprises an industrial robot and a number scanning mechanism arranged at the motion end of the industrial robot. The number scanning mechanism comprises a mounting box body, an air cooling guide sleeve, a number scanning pen servo pen feeding electric cylinder, a laser range finder and an axial floating force controller. The distance between the number scanning pen and an object to be scanned is measured through the laser range finder, the number scanning pen is pushed to stretch out through the servo pen feeding electric cylinder, the contact force between the number scanning pen and the object to be scanned is controlled and sensed through the axial floating force, the number scanning pen is driven to move through the industrial robot, and therefore automatic number scanning is achieved. Compared with the traditional code spraying mode, the automatic code spraying device has the advantages that the labor intensity of workers is greatly reduced, the manual working environment is improved, and compared with the traditional code spraying mode, the production cost is reduced and the equipment failure rate is reduced.

Description

Technical Field

[0001] The present application relates to the field of automatic number scanning equipment, and in particular to an automatic number scanning system and an automatic number scanning method. Background Art

[0002] Hot rolled thick steel plate is a thick steel plate produced by hot rolling process. The thickness of hot rolled thick steel plate is greater than 80mm. In the production process of hot rolled thick steel plate, there is a need to mark the side and (or) top surface of the steel plate slab with numbers and (or) letters, so as to number the product.

[0003] At present, the main method of marking is manual numbering, which has the following disadvantages:

[0004] 1. Extremely high workpiece temperature (generally over 600°C, up to around 1000°C) poses a major safety hazard;

[0005] 2. Frequent scanning requirements and extremely high ambient temperature result in high labor intensity and poor working environment.

[0006] Although the dot matrix automatic coding method can solve the shortcomings of manual numbering, the dot matrix automatic coding equipment has the following problems:

[0007] 1. The prices of consumables and solvents are high, especially the high-temperature resistant consumables and solvents that meet environmental protection requirements are very expensive;

[0008] 2. The nozzle of the inkjet equipment is easy to clog, which brings greater maintenance costs and difficulties.

[0009] In order to solve the problems of existing number scanning methods, such as high labor intensity, high production cost and high equipment failure rate, an automatic number scanning system and an automatic number scanning method are proposed. Summary of the invention

[0010] The embodiment of the present application provides an automatic marking system and an automatic marking method. The automatic marking system pushes the marking pen out through the servo pen feeding electric cylinder, senses the contact force between the marking pen and the object to be marked through the axial floating force control, and drives the marking pen to move through the industrial robot to achieve automatic marking, which greatly reduces the labor intensity of manual labor, improves the manual working environment, and, compared with the traditional inkjet coding method, reduces the production cost and reduces the equipment failure rate. The present application solves the problems of the existing marking method, such as the high labor intensity, high production cost and high equipment failure rate.

[0011] In a first aspect, an embodiment of the present application provides an automatic number scanning system, including an industrial robot and a number scanning mechanism disposed at a moving end of the industrial robot, wherein the number scanning mechanism includes:

[0012] A mounting box connected to the motion end of the industrial robot, wherein the mounting box is provided with a sealed inner cavity;

[0013] An air cooling guide sleeve is arranged on the installation box body, one end of the air cooling guide sleeve is located in the closed inner cavity, and the other end extends out of the installation box body;

[0014] A marking pen inserted into the air cooling guide sleeve, the marking pen is a cylindrical structure, and the type is not limited;

[0015] The servo pen-feeding electric cylinder, laser rangefinder and axial floating force control are arranged in the closed inner cavity, the telescopic end of the servo pen-feeding electric cylinder is inserted into the air-cooling guide sleeve and abuts against the marking pen; the laser emission direction of the laser rangefinder is parallel to the axis of the marking pen, and the laser rangefinder is used to measure the distance between the marking pen and the object to be marked; the axial floating force control is used to sense the contact force between the marking pen and the object to be marked.

[0016] In a feasible implementation, the marking mechanism further includes a heat-insulating mica plate;

[0017] The heat-insulating mica board is fixedly mounted on the outer wall of the installation box;

[0018] The air cooling guide sleeve passes through the thermal insulation mica board, and the laser emitted by the laser rangefinder passes through the through hole or the light-transmitting area on the thermal insulation mica board.

[0019] In a feasible implementation, the numbering mechanism further includes a connecting column and a flange;

[0020] One end of the connecting column is fixedly connected to the installation box body, and the other end is fixedly connected to the flange;

[0021] The flange is fixedly connected to the moving end of the industrial robot.

[0022] In a feasible implementation, the automatic number tracing system further includes an automatic pen bin, and the automatic pen bin includes:

[0023] Connectors;

[0024] A first motor fixedly mounted on the connecting member;

[0025] A marker pen turntable is arranged at the output end of the first motor, and the first motor drives the marker pen turntable to rotate;

[0026] A pen holder is arranged on the marking pen rotating disk, wherein a plurality of the pen holders vertically penetrate the marking pen rotating disk, and the marking pens are inserted into the pen holders;

[0027] An adjustable stroke cylinder, the telescopic end of which is plugged into the pen holder and abuts against the marking pen.

[0028] In a feasible implementation, the automatic pen cartridge further includes a base and a second motor;

[0029] The second motor is arranged on the top of the base, the connecting member is a dividing turntable, the dividing turntable is connected to the output end of the second motor, the second motor drives the dividing turntable to rotate, and a plurality of the first motors are arranged on the dividing turntable.

[0030] In a feasible implementation, the automatic pen cartridge further includes a bearing member, and the bearing member is fixedly mounted on the base;

[0031] The adjustable stroke cylinder is fixed on the bearing member.

[0032] In a feasible implementation, the automatic numbering system further includes a pen tip cutting device, and the pen tip cutting device includes:

[0033] A cutting plate, wherein a cutting hole is provided on the cutting plate;

[0034] a cutting knife fitted to the cutting plate;

[0035] The cutter is connected to the moving end of the slide cylinder, and the slide cylinder drives the cutter to move up and down, and the movement track of the cutter covers the cutting head hole.

[0036] In a feasible implementation, the pen tip cutting device further includes a support and a connecting plate;

[0037] The pillar is vertically arranged, one end of the connecting plate is connected to the top end of the pillar, and the other end is connected to the cutting plate;

[0038] The slide cylinder is fixed on the connecting plate.

[0039] In a feasible implementation, the pen tip cutting device further includes a storage bucket;

[0040] The storage bucket is arranged at the lower part of the cutter, and the storage bucket is used for holding the cut pen tips.

[0041] In a second aspect, an embodiment of the present application provides an automatic number tracing method, which is applied to the above-mentioned automatic number tracing system, and the automatic number tracing method includes:

[0042] The industrial robot drives the laser rangefinder on the marking mechanism to measure the distance of the area to be marked on the object to be marked, and determines the moving distance of the marking pen;

[0043] The robot drives the marking mechanism to approach and finally contact the marking area of ​​the object to be marked, and stops moving when the axial floating force control feedback reaches the appropriate contact force;

[0044] The robot controls the marking mechanism to write numbers in the marking area. At the same time, the servo pen-feeding electric cylinder controls the push of the marking pen in real time based on the feedback of the contact force by the axial floating force control.

[0045] After the numbering is completed, the robot determines whether the pen needs to be replaced based on the cumulative push-out amount of the servo pen-feeding cylinder. If the pen does not need to be replaced, the robot drives the number-tracing mechanism back to the initial position. If the pen needs to be replaced, the robot drives the number-tracing mechanism to the pen-changing station of the automatic pen warehouse, and returns to the initial position after the pen is replaced.

[0046] The embodiment of the present application provides an automatic marking system and an automatic marking method. The automatic marking system includes an industrial robot and a marking mechanism arranged at the moving end of the industrial robot. The marking mechanism includes a mounting box, an air cooling guide sleeve, a marking pen servo pen feeding electric cylinder, a laser rangefinder, and an axial floating force control. The laser rangefinder measures the distance between the marking pen and the object to be marked, the servo pen feeding electric cylinder pushes the marking pen out, the axial floating force control senses the contact force between the marking pen and the object to be marked, and the industrial robot drives the marking pen to move, thereby realizing automatic marking, greatly reducing the intensity of manual labor, improving the manual working environment, and, compared with the traditional inkjet coding method, reducing production costs and equipment failure rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural diagram of the automatic number tracing system provided by the present application;

[0048] Figure 2 It is a three-dimensional diagram of the tracing mechanism;

[0049] Figure 3 It is a structural diagram of the number drawing mechanism;

[0050] Figure 4 It is a three-dimensional picture of the automatic pen compartment;

[0051] Figure 5 This is the main view of the automatic pen compartment;

[0052] Figure 6 It is a cross-sectional view of the automatic pen compartment;

[0053] Figure 7 It is a structural schematic diagram of a pen tip cutting device.

[0054] Description of reference numerals:

[0055] 1-industrial robot; 2-numbering mechanism; 3-automatic pen storage; 4-pen tip cutting device;

[0056] 21-installation box; 22-air cooling guide sleeve; 23-marking pen; 24-servo pen feeding electric cylinder; 25-laser rangefinder; 26-axial floating force control; 27-insulating mica plate; 28-connecting column; 29-flange; 31-first motor; 32-marking pen turntable; 33-pen holder; 34-adjustable stroke cylinder; 35-base; 36-second motor; 37-dividing turntable; 38-bearing member; 41-cutting plate; 42-cutter; 43-slide cylinder; 44-pillar; 45-connecting plate; 46-storage bucket. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0058] Hot rolled thick steel plate is a thick steel plate produced by hot rolling process. Hot rolling is carried out at a temperature higher than the recrystallization temperature of the steel plate. It has high strength and toughness, can withstand greater pressure and impact, and is widely used in machinery manufacturing, building structure, shipbuilding and other fields. For example, it is used to manufacture beams and columns in buildings to bear the weight of buildings, and is used as the main structural material of the hull in shipbuilding.

[0059] In the production process of hot-rolled thick steel plates (thickness ≥ 80mm), there is a need to mark the sides and (or) top surfaces of steel plate slabs with numbers and (or) letters, so as to number the products. At present, the marking is mainly done by manual tracing, dot matrix automatic coding and other methods.

[0060] The first method: manual number drawing, which has the following disadvantages:

[0061] 1. Extremely high workpiece temperature (generally over 600°C, up to around 1000°C) poses a major safety hazard;

[0062] 2. Frequent scanning requirements and extremely high ambient temperature result in high labor intensity and poor working environment.

[0063] The second type: dot matrix automatic inkjet printing, has the following disadvantages:

[0064] 1. The prices of consumables and solvents are high, especially the high-temperature resistant consumables and solvents that meet environmental protection requirements are very expensive;

[0065] 2. The nozzle of the inkjet equipment is easy to clog, which brings greater maintenance costs and difficulties.

[0066] The present application provides an automatic marking system, which pushes the marking pen 23 out through the servo pen feeding cylinder 24, senses the contact force between the marking pen 23 and the object to be marked through the axial floating force control 26, and drives the marking pen 23 to move through the industrial robot 1 to achieve automatic marking, which greatly reduces the labor intensity of manual labor, improves the manual working environment, and, compared with the traditional inkjet coding method, reduces the production cost and reduces the equipment failure rate. The present application solves the problems of the existing marking method, such as the high labor intensity, high production cost and high equipment failure rate.

[0067] The specific structure of the automatic number scanning system and the automatic number scanning method provided by the present application is described in detail below in conjunction with the accompanying drawings.

[0068] Reference Figure 1-Figure 7 As shown, the embodiment of the present application provides an automatic number scanning system, including an industrial robot 1 and a number scanning mechanism 2 arranged at the moving end of the industrial robot 1. The industrial robot 1 can be a conventional six-axis industrial robot, and the number scanning mechanism 2 includes;

[0069] A mounting box 21 connected to the moving end of the industrial robot 1, the mounting box 21 may be a cuboid, a cube or a cylinder, and a sealed inner cavity is provided in the mounting box 21;

[0070] An air cooling guide sleeve 22 is arranged on the mounting box body 21, one end of the air cooling guide sleeve 22 is located in the closed inner cavity, and the other end extends out of the mounting box body 21. The air cooling guide sleeve is a device that uses air to achieve a cooling function. Its working principle is to allow air to flow continuously through the components that need to be cooled. The air takes away the heat on the components, thereby achieving the effect of active cooling. This cooling method has the advantages of being pollution-free and having a relatively simple structure. The marking pen 23 is plugged into the air cooling guide sleeve 22. The marking pen 23 can be a solid wax pen. The hot-rolled thick steel plate has an extremely high workpiece temperature. The wax pen is easily softened by high temperature when in contact with or close to the hot-rolled thick steel plate for a long time, which affects the writing effect. Therefore, an air cooling guide sleeve is provided to cool the wax pen to prevent the wax pen from being too soft and ensure normal marking use.

[0071] The servo pen-feeding electric cylinder 24, the laser rangefinder 25 and the axial floating force control 26 are arranged in the sealed inner cavity;

[0072] The telescopic end of the servo pen-feeding electric cylinder 24 is inserted into the air cooling guide sleeve 22 and abuts against the marking pen 23. By controlling the length of the servo pen-feeding electric cylinder 24, the length of the marking pen 23 pushing out the air cooling guide sleeve 22 is controlled.

[0073] The laser emitting direction of the laser rangefinder 25 is parallel to the axis of the marker pen 23. Figure 2 and Figure 3 As shown, the air cooling guide sleeve 22 is located at the lower part of the mounting box body 21 and is arranged vertically, the laser rangefinder 25 emits laser vertically downward, and a through hole or a heat-insulating transparent area is arranged on the mounting box body 21. The laser emitted by the laser rangefinder 25 irradiates the object to be marked through the through hole or the heat-insulating transparent area, thereby measuring the distance between the marking pen 23 and the object to be marked;

[0074] The axial floating force control 26 is used to sense the contact force between the marking pen 23 and the object to be marked. The floating force control is a well-known technology and will not be described in detail here.

[0075] The automatic marking system pushes the marking pen 23 out through the servo pen feeding electric cylinder 24, senses the contact force between the marking pen 23 and the object to be marked through the axial floating force control 26, and drives the marking pen 23 to move through the industrial robot 1 to achieve automatic marking, which greatly reduces the labor intensity of manual labor, improves the manual working environment, and reduces the production cost and equipment failure rate compared with the traditional inkjet coding method. This application solves the problems of the existing marking method, such as high labor intensity, high production cost and high equipment failure rate.

[0076] Reference Figure 2 and Figure 3 As shown, in some embodiments, the marking mechanism 2 further includes an insulating mica board 27. The insulating mica board is a material with good thermal insulation performance. The insulating mica board 27 is fixed to the outer wall of the installation box body 21. The insulating mica board 27 can completely wrap the installation box body 21, or it can be only arranged on the side of the installation box body 21 facing the object to be marked, such as Figure 3 As shown, the insulating mica board 27 is arranged on the lower surface of the mounting box body 21 , the air cooling guide sleeve 22 passes through the insulating mica board 27 , and the laser emitted by the laser rangefinder 25 passes through the through hole or light-transmitting area on the insulating mica board 27 .

[0077] In some embodiments, the marking mechanism 2 further includes a connecting column 28 and a flange 29;

[0078] One end of the connecting column 28 is fixedly connected to the mounting box body 21, and the other end is fixedly connected to the flange 29. The connecting column 28 and the flange 29 can be an integral structure. The connecting column 28 is arranged on the right side of the mounting box body 21, and the flange 29 is fixedly connected to the moving end of the industrial robot 1.

[0079] Reference Figure 4-Figure 6 As shown, in some embodiments, the automatic marking system further includes an automatic pen bin 3, wherein the automatic pen bin 3 stores a plurality of marking pens 23, and the automatic pen bin 3 includes;

[0080] Connectors, which can be fixed or connected to other components;

[0081] The first motor 31 is fixed on the connecting member, and the first motor 31 can be a conventional servo motor, such as Figure 4 As shown, the first motor 31 is arranged vertically, and the output end of the first motor 31 is arranged upward;

[0082] A marker pen turntable 32 is arranged at the output end of the first motor 31. The marker pen turntable 32 is a circular disk. The marker pen turntable 32 is coaxially arranged with the output end of the first motor 31. The first motor 31 drives the marker pen turntable 32 to rotate. The first motor 31 controls the rotation and stop of the marker pen turntable 32.

[0083] A pen holder 33 is arranged on the marking pen turntable 32. The pen holder 33 is a cylindrical tube. A plurality of pen holders 33 vertically penetrate the marking pen turntable 31. The inner diameter of the tube matches the outer diameter of the marking pen 23. The marking pen 23 is plugged into the pen holder 33 and stored in the pen holder 33 by friction.

[0084] The adjustable stroke cylinder 34 is vertically arranged, and the telescopic end of the adjustable stroke cylinder 34 is inserted into the pen holder 33 and abuts against the marking pen 23. The adjustable stroke cylinder 34 pushes out the marking pen 23 in the pen holder 33 by controlling the extension length, and pushes the marking pen 23 into the air cooling guide sleeve 22.

[0085] In some embodiments, the automatic pen cartridge 3 further includes a base 35 and a second motor 36;

[0086] The specific structure of the base 35 is not limited. The second motor 36 is a conventional servo motor. The second motor 36 is arranged on the top of the base 35. The second motor 36 can be arranged vertically. The output end of the second motor 36 is vertically upward. The connecting piece is a dividing turntable 37, which is a circular disk. The dividing turntable 37 is connected to the output end of the second motor 36 and is coaxially arranged. The second motor 36 drives the dividing turntable 37 to rotate. The dividing turntable 37 is provided with a plurality of first motors 31. The plurality of first motors 31 are evenly distributed around the axis of the dividing turntable 37. Each first motor 31 is connected to a marking pen turntable 31. The marking pen turntable 31 is provided with a plurality of pen holders 33. Each pen holder 33 can be plugged with a marking pen 23.

[0087] In some embodiments, the automatic pen magazine 3 further includes a supporting member 38 , which may be a triangular steel member. The supporting member 38 is fixed on the base 35 , and the adjustable stroke cylinder 34 is fixed on the supporting member 38 .

[0088] The automatic pen change process is as follows:

[0089] 1. The servo pen feeding cylinder on the marking mechanism pushes the remaining marking pen in the pen holder completely into the waste box;

[0090] 2. The robot drives the number-drawing mechanism to the pen-changing station of the automatic pen bin, and controls the pen holder on the number-drawing mechanism to dock with the pen holder on the automatic pen bin at the pen-changing station;

[0091] 3. The adjustable stroke cylinder pushes the new marking pen into the pen holder in the marking mechanism;

[0092] 4. The robot drives the number scanning mechanism back to its original position.

[0093] Reference Figure 7 As shown, in some embodiments, the automatic marking system further includes a pen tip cutting device 4, and the pen tip cutting device 4 includes;

[0094] The cutting plate 41 may be a rectangular plate, and a cutting hole is provided on the cutting plate 41, and the cutting hole may be a square hole;

[0095] A cutter 42 is attached to the cutting plate 41. The cutter 42 can be a conventional blade. The cutter 42 is arranged horizontally, with the blade pointing vertically downward. The length of the cutter 42 is greater than the width of the cutting hole.

[0096] The slide cylinder 43 and the cutter 42 are connected to the moving end of the slide cylinder 43. The slide cylinder 43 drives the cutter 42 to move up and down, and the movement track of the cutter 42 covers the cutting hole.

[0097] In some embodiments, the pen tip cutting device 4 further includes a support 44 and a connecting plate 45;

[0098] The support 44 is vertically arranged, the connecting plate 45 is a conventional plate body, the connecting plate 45 is horizontally arranged, the cutting plate 41 is vertically arranged, one end of the connecting plate 45 is connected to the top of the support 44, and the other end is connected to the cutting plate 41, and the slide cylinder 43 is fixed on the connecting plate 45.

[0099] In some embodiments, the pen tip cutting device 4 further includes a storage bucket 46;

[0100] The storage barrel 46 is a conventional cylinder, and the storage barrel 46 is disposed at the lower part of the cutter 42 . The storage barrel 46 is used to hold the cut pen tips.

[0101] After each marking is completed, the six-axis industrial robot drives the marking mechanism to the cutting head position, and the slide cylinder drives the cutter downward to cut off the hot melt pen tip, thereby ensuring that the next marking handwriting is clear and legible.

[0102] The embodiment of the present application provides an automatic number tracing method, which is applied to the above-mentioned automatic number tracing system, and the automatic number tracing method includes:

[0103] The industrial robot drives the laser rangefinder on the marking mechanism to measure the distance of the area to be marked on the object to be marked, and determines the moving distance of the marking pen;

[0104] The robot drives the marking mechanism to approach and finally contact the marking area of ​​the object to be marked, and stops moving when the axial floating force control feedback reaches the appropriate contact force;

[0105] The robot controls the marking mechanism to write numbers in the marking area. At the same time, the servo pen-feeding electric cylinder controls the push of the marking pen in real time based on the feedback of the contact force by the axial floating force control.

[0106] After the numbering is completed, the robot determines whether the pen needs to be replaced based on the cumulative push-out amount of the servo pen-feeding cylinder. If the pen does not need to be replaced, the robot drives the number-tracing mechanism back to the initial position. If the pen needs to be replaced, the robot drives the number-tracing mechanism to the pen-changing station of the automatic pen warehouse, and returns to the initial position after the pen is replaced.

[0107] Taking the marking of hot-rolled steel plate as an example, the action sequence of each mechanism and the automatic marking process are as follows:

[0108] 1. The robot drives the laser rangefinder on the marking mechanism to measure the distance of the area to be marked on the slab to determine the moving distance of the marking pen holder;

[0109] 2. The robot drives the marking mechanism to approach and finally contact the marking area of ​​the slab to be marked, and stops moving when the axial floating force control feedback reaches the appropriate contact force;

[0110] 3. The robot controls the marking mechanism to write numbers in the marking area. At the same time, the servo pen-feeding electric cylinder controls the push of the marking pen in real time according to the feedback of the contact force by the axial floating force control;

[0111] 4. After the numbering is completed, the robot determines whether the pen needs to be replaced based on the cumulative push-out amount of the servo pen-feeding cylinder. If the pen does not need to be replaced, the robot drives the number-tracing mechanism back to the initial position. If the pen needs to be replaced, the robot drives the number-tracing mechanism to the pen-changing station of the automatic pen warehouse, and returns to the initial position after the pen is replaced.

[0112] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0113] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. An automatic number tracing system, characterized in that: The invention comprises an industrial robot (1) and a numbering mechanism (2) arranged at a moving end of the industrial robot (1), wherein the numbering mechanism (2) comprises: A mounting box (21) connected to the moving end of the industrial robot (1), wherein a sealed inner cavity is provided in the mounting box (21); An air cooling guide sleeve (22) disposed on the installation box body (21), one end of the air cooling guide sleeve (22) being located in the closed inner cavity and the other end extending out of the installation box body (21); A marking pen (23) inserted into the air cooling guide sleeve (22); A servo pen-feeding electric cylinder (24), a laser rangefinder (25) and an axial floating force control (26) are arranged in the closed inner cavity. The telescopic end of the servo pen-feeding electric cylinder (24) is plugged into the air-cooling guide sleeve (22) and abuts against the marking pen (23). The laser emission direction of the laser rangefinder (25) is parallel to the axis of the marking pen (23). The laser rangefinder (25) is used to measure the distance between the marking pen (23) and the object to be marked. The axial floating force control (26) is used to sense the contact force between the marking pen (23) and the object to be marked.

2. The automatic number tracing system according to claim 1, characterized in that: The marking mechanism (2) further comprises a heat-insulating mica plate (27); The heat-insulating mica board (27) is fixedly mounted on the outer wall of the installation box body (21); The air cooling guide sleeve (22) passes through the thermal insulation mica board (27), and the laser emitted by the laser rangefinder (25) passes through the through hole or light-transmitting area on the thermal insulation mica board (27).

3. The automatic number tracing system according to claim 1 or 2, characterized in that: The numbering mechanism (2) further comprises a connecting column (28) and a flange (29); One end of the connecting column (28) is fixedly connected to the installation box body (21), and the other end is fixedly connected to the flange (29); The flange (29) is fixedly connected to the moving end of the industrial robot (1).

4. The automatic number tracing system according to claim 1, characterized in that: The automatic number tracing system further comprises an automatic pen bin (3), wherein the automatic pen bin (3) comprises: Connectors; A first motor (31) fixedly mounted on the connecting member; A marker pen rotary disk (32) is arranged at the output end of the first motor (31), and the first motor (31) drives the marker pen rotary disk (32) to rotate; A pen holder (33) is arranged on the marking pen rotating disk (32), wherein a plurality of the pen holders (33) vertically penetrate the marking pen rotating disk (31), and the marking pen (23) is inserted into the pen holder (33); An adjustable stroke cylinder (34), the telescopic end of the adjustable stroke cylinder (34) is plugged into the pen holder (33) and abuts against the marking pen (23).

5. The automatic number tracing system according to claim 4, characterized in that: The automatic pen cartridge (3) further comprises a base (35) and a second motor (36); The second motor (36) is arranged on the top of the base (35); the connecting member is a dividing turntable (37); the dividing turntable (37) is connected to the output end of the second motor (36); the second motor (36) drives the dividing turntable (37) to rotate; and a plurality of the first motors (31) are arranged on the dividing turntable (37).

6. The automatic number tracing system according to claim 5, characterized in that: The automatic pen magazine (3) further comprises a bearing member (38), wherein the bearing member (38) is fixedly mounted on the base (35); The adjustable stroke cylinder (34) is fixed on the supporting member (38).

7. The automatic number tracing system according to claim 1, characterized in that: The automatic marking system further comprises a pen tip cutting device (4), wherein the pen tip cutting device (4) comprises: A cutting plate (41), wherein the cutting plate (41) is provided with a cutting hole; a cutting knife (42) fitted to the cutting plate (41); The slide cylinder (43) is connected to the moving end of the slide cylinder (43). The slide cylinder (43) drives the cutter (42) to move up and down, and the movement track of the cutter (42) covers the cutting hole.

8. The automatic number tracing system according to claim 7, characterized in that: The pen tip cutting device (4) further comprises a support (44) and a connecting plate (45); The support (44) is vertically arranged, one end of the connecting plate (45) is connected to the top end of the support (44), and the other end is connected to the cutting plate (41); The slide cylinder (43) is fixed on the connecting plate (45).

9. The automatic number tracing system according to claim 7 or 8, characterized in that: The pen tip cutting device (4) further comprises a storage bucket (46); The storage bucket (46) is arranged at the lower part of the cutting knife (42), and the storage bucket (46) is used to hold the cut pen tips.

10. An automatic number tracing method, characterized in that: The automatic number tracing method is applied to the automatic number tracing system according to any one of claims 1 to 9, and the automatic number tracing method comprises: The industrial robot drives the laser rangefinder on the marking mechanism to measure the distance of the area to be marked on the object to be marked, and determines the moving distance of the marking pen; The robot drives the marking mechanism to approach and finally contact the marking area of ​​the object to be marked, and stops moving when the axial floating force control feedback reaches the appropriate contact force; The robot controls the marking mechanism to write numbers in the marking area. At the same time, the servo pen-feeding electric cylinder controls the push of the marking pen in real time based on the feedback of the contact force by the axial floating force control. After the numbering is completed, the robot determines whether the pen needs to be replaced based on the cumulative push-out amount of the servo pen-feeding cylinder. If the pen does not need to be replaced, the robot drives the number-tracing mechanism back to the initial position. If the pen needs to be replaced, the robot drives the number-tracing mechanism to the pen-changing station of the automatic pen warehouse, and returns to the initial position after the pen is replaced.

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