Connector key position automatic identification and identification jet printing control method and system

Abstract

The invention relates to the technical field of processing equipment control, and discloses a connector key position automatic identification and mark jet printing control method and system, which realize automatic grabbing of a connector, automatic photographing identification of key position positions and calculation of deviation angles of key positions by adopting a software and hardware combined form, and after angle compensation is carried out through a manipulator, the key positions are automatically identified and the mark jet printing of the connector is finished. And marks are automatically jet-printed. According to the invention, automatic grabbing, automatic photographing, key position identification and automatic jet printing of connectors of different specifications can be realized, a traditional production and operation mode that workpieces of one specification correspond to a set of tools or key position directions are manually identified and uniformly placed is changed, the problem that jet printing consistency of an original production mode cannot be ensured is solved, and the production efficiency is improved. The work of manually identifying the key position direction is reduced, and the production efficiency of products is improved.

Description

Technical Field

[0001] The invention relates to the technical field of processing equipment control, and discloses a connector key position automatic identification and identification printing control method and system. Background Art

[0002] Currently, there are two ways to print labels on connector products. The first is to fix the inkjet terminal, manually fix the workpiece on the rotating motor through the tooling, press the switch to trigger the motor to rotate, and the motor drives the encoder to trigger the inkjet terminal to print; the second is also to fix the inkjet terminal, manually place the workpiece in the specified direction on the material tray, start the robot to automatically pick up the material, clamp it to the coding position, and automatically rotate and trigger the inkjet terminal to print.

[0003] The main problem with the first processing method is that one set of tooling corresponds to one specification of workpiece. Frequent replacement of tooling when processing multiple types of products each time is time-consuming and labor-intensive. In addition, each workpiece is completed manually, which is labor-intensive and consistency cannot be guaranteed.

[0004] The main problem with the second processing method is that the direction of the connector keys is manually identified, and the workpiece is manually placed on the tray in the specified direction. This will cause an angle deviation in the printed mark and the consistency of the product cannot be guaranteed. Summary of the invention

[0005] The purpose of the present invention is to provide a control system based on software programming for automatically identifying connector key positions and printing labels, which can realize automatic grabbing of connectors, automatic photography to identify key positions, calculation of key deviation angles, and automatic printing of labels after angle compensation by a robot.

[0006] In order to achieve the above technical effects, the technical solution adopted by the present invention is:

[0007] A connector key position automatic identification and marking printing control method, comprising:

[0008] Obtaining the processing parameters of the current workpiece to be processed, wherein the processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision camera, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing;

[0009] Generate a workpiece picking position corresponding to the robot actuator according to the coordinate position of the current workpiece to be processed, control the robot actuator to move to the workpiece picking position, and control the electric claw to clamp the current workpiece to be processed;

[0010] When the electric claw completes clamping the current workpiece to be processed, the robot arm is controlled to move the current workpiece to be processed to the industrial vision photography coordinate position, and the image acquisition device is used to take a photo of the current workpiece to be processed;

[0011] After the image acquisition device completes taking pictures, it identifies the key position of the current workpiece to be processed and calculates the deviation angle of the key position, where the deviation angle is the angle between the key position and the vertical direction;

[0012] The deviation angle is transmitted to the robot controller, the calculated and generated inkjet printing mark coordinate position is compensated again, and the robot is controlled to move the current workpiece to be processed to the compensated inkjet printing mark coordinate position;

[0013] When the workpiece to be processed reaches the compensated printing mark coordinate position, the robot is controlled to rotate clockwise at the preset rotation angular velocity, and the printer is controlled to start printing the mark. After the robot completes the rotation, the current workpiece to be processed is placed back to the original material picking position; then the next workpiece printing process is started until all the workpieces in the tray are printed.

[0014] Furthermore, before the image acquisition device takes a picture of the current workpiece to be processed, a light source motor controller is used to control the light source motor to adjust the height position of the light source so that the distance from the lower surface of the workpiece to be processed to the light source is a preset distance value; the light source is located between the image acquisition device and the workpiece to be processed at the industrial vision photography coordinate position.

[0015] Furthermore, the calculated and generated inkjet mark coordinate position is compensated again, and the compensated inkjet mark coordinate position is (x0, y0, z0, u0+Δu), wherein x0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the X-axis of the manipulator space coordinate system, y0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the Y-axis of the manipulator space coordinate system, z0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the Z-axis of the manipulator space coordinate system, u0 is the initial angle of the manipulator actuator rotation axis of the initial coordinate position of the inkjet mark in the manipulator space coordinate system, and Δu is the calculated deviation angle of the key position; wherein the manipulator space coordinate system takes a point on the manipulator rotation center axis as the origin, the vertical upward direction of the rotation center axis is the positive direction of the Z-axis, and the right-hand rule is used to determine the X-axis and Y-axis located in the horizontal direction and perpendicular to each other; the rotation axis is vertically installed at the end of the manipulator, and is used to control the workpiece to be processed to be lifted up and down or rotate along the rotation axis after grabbing the workpiece to be processed.

[0016] In order to achieve the above technical effects, the present invention also provides a connector key position automatic identification and identification printing control system, which is used to implement the connector key position automatic identification and identification printing control method, including:

[0017] A host computer, which is used to obtain processing parameters of the current workpiece to be processed, wherein the processing parameters include the coordinate position of the current workpiece to be processed, the industrial vision camera coordinate position, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing;

[0018] The robot module includes a robot controller and a robot actuator, wherein the robot controller is used to generate a workpiece picking position corresponding to the robot actuator according to the coordinate position of the current workpiece to be processed, and control the robot actuator to move to the workpiece picking position; and, when the electric claw completes clamping the current workpiece to be processed, control the robot actuator to move the workpiece to be processed to the industrial vision photography coordinate position; and, after receiving the compensated inkjet marking coordinate position, control the robot actuator to move the workpiece to be processed to the compensated inkjet marking coordinate position; and, during the inkjet printer printing process, control the robot actuator to drive the workpiece to be processed to rotate; and, after the inkjet marking is completed, put the workpiece back to the original picking position.

[0019] An electric gripper module, the electric gripper module comprising an electric gripper controller and an electric gripper actuator, the electric gripper actuator being mounted on the manipulator actuator, the electric gripper controller being used to control the electric gripper to clamp the workpiece to be processed after the manipulator actuator moves to the workpiece picking position;

[0020] An image acquisition module is used to take a picture of the workpiece to be processed using an image acquisition device after the workpiece to be processed moves to the industrial vision photography coordinate position;

[0021] The deviation analysis module is used to identify the key position of the current workpiece to be processed after the image acquisition device completes taking pictures, and calculate the deviation angle of the key position, where the deviation angle is the angle between the key position and the vertical direction;

[0022] A compensation adjustment module is used to compensate the calculated and generated inkjet print mark coordinate position again, generate the compensated inkjet print mark coordinate position, and transmit the compensated inkjet print mark coordinate position to the robot controller;

[0023] The marking printing module is used to control the manipulator to rotate clockwise at a preset rotation angular velocity when the workpiece to be processed reaches the compensated marking printing coordinate position, and at the same time control the inkjet printer to start printing the marking.

[0024] Furthermore, it also includes PLC. The host computer transmits the corresponding processing parameters to PLC, and PLC transmits them to the electric gripper controller and the light source motor controller through Ether-CAT communication; PLC and the image acquisition module realize information exchange through Modbus-TCP communication. After PLC determines that the workpiece moves to the photo position, it sends a photo signal to the image acquisition module. At the same time, after taking the photo, the image acquisition module transmits the calculated deviation angle of the key position to PLC; PLC and the robot controller send the printing trigger signal to the inkjet printer through IO information exchange.

[0025] Furthermore, the electric gripper controller controls the electric gripper actuator to clamp the current workpiece to be processed by a torque control method; during the clamping process, when the force value reaches a set value, it is determined that the current workpiece to be processed is clamped in place.

[0026] Furthermore, in the compensation and adjustment module, the coordinate position of the printed mark after compensation is (x0, y0, z0, u0+Δu), wherein x0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the X-axis of the manipulator space coordinate system, y0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Y-axis of the manipulator space coordinate system, z0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Z-axis of the manipulator space coordinate system, u0 is the initial angle of the manipulator actuator rotation axis in the manipulator space coordinate system, and Δu is the calculated deviation angle of the key position; wherein the manipulator space coordinate system takes a point on the manipulator rotation center axis as the origin, the vertical upward direction of the rotation center axis is the positive direction of the Z-axis, and the right-hand rule is used to determine the X-axis and Y-axis located in the horizontal direction and perpendicular to each other; the rotation axis is vertically installed at the end of the manipulator, and is used to control the workpiece to be processed to be lifted up and down or rotate along the rotation axis after grabbing the workpiece to be processed.

[0027] Furthermore, the image acquisition module also includes a light source control unit, which is used to control the light source motor to adjust the height position of the light source using a light source motor controller before the image acquisition device takes a picture of the current workpiece to be processed, so that the distance from the lower surface of the workpiece to be processed to the light source is a preset distance value; the light source is located between the image acquisition device and the workpiece to be processed at the industrial vision photography coordinate position.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention uses a combination of software and hardware to realize automatic grabbing of the connector, automatically taking photos to identify the key positions, calculating the deviation angles of the key positions, and automatically printing the logo after making angle compensation through a manipulator.

[0030] The present invention can realize automatic grabbing of connectors of different specifications, automatic photography to identify key positions and automatic printing of labels, which changes the traditional production and operation mode of one specification of workpiece corresponding to one set of tooling, or manual identification of key directions and unified placement, improves the versatility, accuracy and efficiency of the control system for connector key positions and printing labels, solves the problem that the original production method cannot ensure the consistency of printing, reduces the work of manual identification of key directions, and improves the production efficiency of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of the connector key position automatic identification and identification printing control method in the embodiment;

[0032] Figure 2 It is a structural block diagram of the connector key position automatic identification and marking printing control system in the embodiment;

[0033] Figure 3 It is a schematic diagram of the structure of a connector key position automatic identification and marking printing control system in an embodiment;

[0034] Among them, 1. Host computer; 2. Robot module; 201. Robot controller; 202. Robot actuator; 3. Electric claw module; 301. Electric claw controller; 302. Electric claw actuator; 4. Image acquisition module; 401. Light source motor controller; 5. Deviation analysis module; 501. Camera; 6. Compensation adjustment module; 7. Logo printing module; 701. Inkjet printer; 8. PLC. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the embodiments and drawings. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0036] Example

[0037] See also Figure 1-Figure 3 , a connector key position automatic identification and marking printing control method, comprising:

[0038] Obtaining the processing parameters of the current workpiece to be processed, wherein the processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision camera, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing;

[0039] Generate a workpiece picking position corresponding to the robot actuator 202 according to the coordinate position of the current workpiece to be processed, control the robot actuator 202 to move to the workpiece picking position, and control the electric claw to clamp the current workpiece to be processed;

[0040] When the electric claw completes clamping the current workpiece to be processed, the robot arm is controlled to move the current workpiece to be processed to the industrial vision photography coordinate position, and the image acquisition device is used to take a photo of the current workpiece to be processed;

[0041] After the image acquisition device completes taking pictures, it identifies the key position of the current workpiece to be processed and calculates the deviation angle of the key position, where the deviation angle is the angle between the key position and the vertical direction;

[0042] The deviation angle is transmitted to the robot controller 201, the calculated and generated inkjet printing mark coordinate position is compensated again, and the robot is controlled to move the current workpiece to be processed to the compensated inkjet printing mark coordinate position;

[0043] When the workpiece to be processed reaches the compensated printing mark coordinate position, the robot is controlled to rotate clockwise at the preset rotation angular velocity, and the inkjet printer 701 is controlled to start printing the mark. After the robot completes the rotation, the current workpiece to be processed is placed back to the original material picking position; then the next workpiece printing process is started until all the workpieces in the tray are printed.

[0044] In this embodiment, a combination of software and hardware is used to realize automatic grabbing of connectors, automatic photography to identify key positions, calculation of key deviation angles, and automatic printing of labels after angle compensation by a manipulator. The method of this embodiment can realize automatic grabbing of connectors of different specifications, automatic photography to identify key positions, and automatic printing of labels, which changes the traditional production and operation mode of one set of tooling for one specification of workpiece, or manual identification of key directions and unified placement, solves the problem that the original production method cannot ensure the consistency of printing, reduces the work of manual identification of key directions, and improves the production efficiency of products.

[0045] Based on the same inventive concept, this embodiment also provides a connector key position automatic identification and marking printing control system, including:

[0046] The host computer 1 is used to obtain the processing parameters of the workpiece to be processed, and the processing parameters include the coordinate position of the workpiece to be processed, the industrial vision camera coordinate position, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing;

[0047] The robot module 2 includes a robot controller 201 and a robot actuator 202, wherein the robot controller 201 is used to generate a workpiece picking position corresponding to the robot actuator 202 according to the coordinate position of the current workpiece to be processed, and control the robot actuator 202 to move to the workpiece picking position; and, when the electric claw completes clamping the current workpiece to be processed, control the robot actuator 202 to move the workpiece to be processed to the industrial vision photography coordinate position; and, after receiving the compensated inkjet marking coordinate position, control the robot actuator 202 to move the workpiece to be processed to the compensated inkjet marking coordinate position; and, during the inkjet printer 701 inkjet marking process, control the robot actuator 202 to drive the workpiece to be processed to rotate; and, after the inkjet marking is completed, put the workpiece back to the original picking position.

[0048] The electric gripper module 3 includes an electric gripper controller 301 and an electric gripper actuator 302. The electric gripper actuator 302 is mounted on the manipulator actuator 202. The electric gripper controller 301 is used to control the electric gripper to clamp the workpiece to be processed after the manipulator actuator 202 moves to the workpiece picking position.

[0049] The image acquisition module 4 is used to take a picture of the current workpiece to be processed by using an image acquisition device after the workpiece to be processed moves to the industrial vision photography coordinate position;

[0050] Deviation analysis module 5, used for identifying the key position of the current workpiece to be processed after the image acquisition device completes taking pictures, and calculating the deviation angle of the key position, wherein the deviation angle is the angle between the key position and the vertical direction;

[0051] The compensation adjustment module 6 is used to compensate the calculated and generated inkjet print mark coordinate position again, generate the compensated inkjet print mark coordinate position, and transmit the compensated inkjet print mark coordinate position to the manipulator controller 201;

[0052] The marking printing module 7 is used to control the manipulator to rotate clockwise at a preset rotation angular velocity when the workpiece to be processed reaches the compensated marking printing coordinate position, and at the same time control the inkjet printer 701 to start printing the marking.

[0053] The control system for connector key positions and printed labels of this embodiment can realize automatic grabbing of connectors of different specifications, automatic photography to identify key positions and automatic printing of labels, which improves the versatility, accuracy and efficiency of the control system for connector key positions and printed labels and improves the production efficiency of the product.

[0054] In this embodiment, the preset rotation angular velocity of the workpiece to be processed is Where ω0 is the test angular velocity of the calibration piece, r0 is the radius of the calibration piece, and r is the radius of the current workpiece to be processed; the calibration piece is the workpiece used for the initial control system debugging, and is used to calibrate the points that will be reached during the program operation. That is, the calibration piece is used to teach the points in each operation process (for example: industrial vision photography coordinate points, printing mark coordinate points), and at the same time, the robot actuator 202 will be controlled to clamp the calibration piece. By debugging the rotation speed of the rotation axis of the robot actuator 202 to match the printing speed of the inkjet printer 701, the final debugged rotation speed is defined as the test angular velocity ω0 of the calibration piece.

[0055] By statistically processing various types of workpieces, after the manipulator rotates 130 degrees, it can meet the actual operation setting rotation speed. That is, the 130-degree movement stroke is the manipulator rotation speed-up process. The subsequent uniform rotation 360-degree movement stroke, during which the inkjet printer 701 prints the workpiece, ensures that the workpiece can be sprayed with a logo for one week. The last 130-degree movement stroke is the manipulator rotation speed reduction process, the purpose is to ensure that the previous 360-degree movement stroke is a uniform rotation, and the size state of the printed logo is consistent. Therefore, when the present embodiment controls the manipulator to rotate clockwise at a preset rotation angular velocity, the rotation angle is set to 620 degrees, which can ensure that the manipulator can achieve one rotation in the uniform rotation stage, and at the same time, the present embodiment controls the inkjet printer 701 to start printing the logo when it rotates to 130 degrees), and the manipulator puts the workpiece back to the original position of the material after the rotation is completed.

[0056] In this embodiment, the host computer 1 transmits the corresponding processing parameters to the robot controller 201 through Modbus-TCP communication; the host computer 1 transmits the corresponding processing parameters to the electric claw controller 301, the image acquisition module 4 and the identification printing module 7 through Ether-CAT communication.

[0057] It also includes PLC8. The host computer 1 transmits the corresponding processing parameters to PLC8, which then transmits them to the electric claw controller 301 and the light source motor controller 401 through Ether-CAT communication. PLC8 and the image acquisition module 4 realize information exchange through Modbus-TCP communication, that is, after PLC8 determines that the workpiece moves to the photo position, it tells the image acquisition module 8 to take a photo. At the same time, after taking the photo, the image acquisition module 8 transmits the calculated deviation angle of the key position to PLC8; PLC8 and the manipulator controller 201 exchange the printing trigger signal to the inkjet printer 701 through IO information.

[0058] In this embodiment, the electric gripper controller 301 controls the electric gripper actuator 302 to clamp the current workpiece to be processed by torque control; during the clamping process, when the force value reaches the set value, it is determined that the current workpiece to be processed is clamped in place.

[0059] In this embodiment, in the compensation adjustment module 6, the coordinate position of the printed mark after compensation is (x0, y0, z0, u0+Δu), wherein x0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the X-axis of the manipulator space coordinate system, y0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Y-axis of the manipulator space coordinate system, z0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Z-axis of the manipulator space coordinate system, u0 is the initial angle of the rotation axis of the manipulator actuator 202 in the manipulator space coordinate system, and Δu is the calculated deviation angle of the key position; wherein the manipulator space coordinate system takes a point on the manipulator rotation center axis as the origin, the vertical upward direction of the rotation center axis is the positive direction of the Z-axis, and the right-hand rule is used to determine the X-axis and Y-axis located in the horizontal direction and perpendicular to each other; the rotation axis is vertically installed at the end of the manipulator, and is used to control the workpiece to be processed to be lifted up and down or rotate along the rotation axis after grabbing the workpiece to be processed.

[0060] In this embodiment, the image acquisition module 4 also includes a light source control unit, which is used to adjust the height position of the light source using the light source motor controller 401 before the image acquisition device takes a photo of the current workpiece to be processed, so that the distance from the lower surface of the workpiece to be processed to the light source is a preset distance value; the light source is located between the image acquisition device and the workpiece to be processed at the industrial visual photography coordinate position. The distance from the workpiece to the light source is guaranteed during visual photography, thereby ensuring the quality of the photographed photo.

[0061] In this embodiment, the connector key position automatic identification and label printing control system can be divided into a control layer, a drive layer and an execution layer; wherein the control layer includes a host computer 1, the drive layer includes a manipulator controller 201, an electric claw controller 301, and a light source motor controller 401, and the execution layer includes a manipulator actuator 202, an electric claw actuator 302, an image acquisition device (camera 501), a light source and a printer 701. By storing and calling processing parameters in the control layer host computer 1 (including HMI and industrial computer), the host computer 1 downloads the processing parameters of the current workpiece to be processed to the corresponding drive layer device, and the manipulator controller 201 automatically calculates the coordinate position of the manipulator grabbing the workpiece, the industrial vision photography coordinate position, the printing label coordinate position, and the rotation angular velocity of the manipulator during printing according to the transmitted data and the internal program algorithm. When the device start button is pressed, the manipulator controller 201 drives the corresponding execution layer (manipulator actuator 202) to reach the calculated material picking position, and after the IO signal of reaching the material picking position is transmitted through Modbus-TCP communication, the electric claw controller 301 drives the corresponding execution layer (electric claw actuator 302) to clamp the workpiece. When the electric claw actuator 302 completes the action of clamping the workpiece, the manipulator controller 201 communicates with the manipulator controller 201 through Modbus-TCP, and the manipulator controller 201 drives the manipulator actuator 202 of the execution layer to reach the calculated photo position, and after the IO signal of reaching the photo position is transmitted through Modbus-TCP communication, the control execution layer (light source and camera 501) is turned on successively and completes the photo taking. After the camera 501 completes the photo taking, the visual system automatically takes photos to identify the key position, calculates the deviation angle of the key position, and transmits the data to the manipulator controller 201 of the driving layer, and the calculated and generated inkjet printing mark coordinate position is compensated again, and the manipulator controller 201 drives the manipulator actuator 202 of the execution layer to reach the final calculated inkjet printing mark coordinate position. After the robot reaches the printing mark position, the robot rotates at the calculated rotation angular velocity, and the robot controller 201 triggers the control printer 701 through the IO signal to start printing the mark. After the robot rotates, the workpiece is returned to the original position of the material. Then the next workpiece printing process starts until all the workpieces in the tray are printed.

[0062] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically identifying connector key positions and printing labels, characterized in that: include: Obtaining the processing parameters of the current workpiece to be processed, wherein the processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision camera, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing; Generate a workpiece picking position corresponding to the robot actuator according to the coordinate position of the current workpiece to be processed, control the robot actuator to move to the workpiece picking position, and control the electric claw to clamp the current workpiece to be processed; When the electric claw completes clamping the current workpiece to be processed, the robot arm is controlled to move the current workpiece to be processed to the industrial vision photography coordinate position, and the image acquisition device is used to take a photo of the current workpiece to be processed; After the image acquisition device completes taking pictures, it identifies the key position of the current workpiece to be processed and calculates the deviation angle of the key position, where the deviation angle is the angle between the key position and the vertical direction; The deviation angle is transmitted to the robot controller, the calculated and generated inkjet printing mark coordinate position is compensated again, and the robot is controlled to move the current workpiece to be processed to the compensated inkjet printing mark coordinate position; When the workpiece to be processed reaches the compensated printing mark coordinate position, the robot is controlled to rotate clockwise at the preset rotation angular velocity, and the printer is controlled to start printing the mark. After the robot completes the rotation, the current workpiece to be processed is placed back to the original material picking position; then the next workpiece printing process is started until all the workpieces in the tray are printed.

2. The connector key position automatic identification and label printing control method according to claim 1 is characterized in that: Before the image acquisition device takes a picture of the current workpiece to be processed, a light source motor controller is used to control the light source motor to adjust the height position of the light source so that the distance from the lower surface of the workpiece to be processed to the light source is a preset distance value; the light source is located between the image acquisition device and the workpiece to be processed at the industrial vision photography coordinate position.

3. The connector key position automatic identification and label printing control method according to claim 1 is characterized in that: The calculated and generated inkjet mark coordinate position is compensated again. After compensation, the inkjet mark coordinate position is (x0, y0, z0, u0+Δu), wherein x0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the X-axis of the manipulator space coordinate system, y0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the Y-axis of the manipulator space coordinate system, z0 is the coordinate value corresponding to the initial coordinate position of the inkjet mark on the Z-axis of the manipulator space coordinate system, u0 is the initial angle of the manipulator actuator rotation axis in the manipulator space coordinate system, and Δu is the calculated deviation angle of the key position; wherein the manipulator space coordinate system takes a point on the manipulator rotation center axis as the origin, the vertical upward direction of the rotation center axis is the positive direction of the Z-axis, and the right-hand rule is used to determine the X-axis and Y-axis located in the horizontal direction and perpendicular to each other; the rotation axis is vertically installed at the end of the manipulator, and is used to control the workpiece to be processed to be lifted up and down or rotate along the rotation axis after grabbing the workpiece to be processed.

4. A connector key position automatic identification and label printing control system, used to implement the connector key position automatic identification and label printing control method according to claim 1, characterized in that: include: A host computer, which is used to obtain processing parameters of the current workpiece to be processed, wherein the processing parameters include the coordinate position of the current workpiece to be processed, the industrial vision camera coordinate position, the initial coordinate position of the printing mark, and the rotation angular velocity of the manipulator during printing; A manipulator module, comprising a manipulator controller and a manipulator actuator, wherein the manipulator controller is used to generate a workpiece picking position corresponding to the manipulator actuator according to the coordinate position of the current workpiece to be processed, and control the manipulator actuator to move to the workpiece picking position; And, when the electric claw completes clamping the current workpiece to be processed, the robot actuator is controlled to move the workpiece to be processed to the industrial vision photography coordinate position; and, after receiving the compensated printing mark coordinate position, the robot actuator is controlled to move the workpiece to be processed to the compensated printing mark coordinate position; and, during the printing mark process of the inkjet printer, the robot actuator is controlled to drive the workpiece to be processed to rotate; and, after the printing mark is completed, the workpiece is put back to the original material picking position. An electric gripper module, the electric gripper module comprising an electric gripper controller and an electric gripper actuator, the electric gripper actuator being mounted on the manipulator actuator, the electric gripper controller being used to control the electric gripper to clamp the workpiece to be processed after the manipulator actuator moves to the workpiece picking position; An image acquisition module is used to take a picture of the workpiece to be processed using an image acquisition device after the workpiece to be processed moves to the industrial vision photography coordinate position; The deviation analysis module is used to identify the key position of the current workpiece to be processed after the image acquisition device completes taking pictures, and calculate the deviation angle of the key position, where the deviation angle is the angle between the key position and the vertical direction; A compensation adjustment module is used to compensate the calculated and generated inkjet print mark coordinate position again, generate the compensated inkjet print mark coordinate position, and transmit the compensated inkjet print mark coordinate position to the robot controller; The marking printing module is used to control the manipulator to rotate clockwise at a preset rotation angular velocity when the workpiece to be processed reaches the compensated marking printing coordinate position, and at the same time control the inkjet printer to start printing the marking.

5. The connector key position automatic identification and marking printing control system according to claim 4, characterized in that: It also includes PLC. The host computer transmits the corresponding processing parameters to PLC, and PLC then transmits them to the electric gripper controller and light source motor controller through Ether-CAT communication; PLC and image acquisition module realize information exchange through Modbus-TCP communication. After PLC determines that the workpiece moves to the photo position, it sends a photo signal to the image acquisition module. At the same time, after taking the photo, the image acquisition module transmits the calculated key position deviation angle to PLC; PLC and robot controller send the printing trigger signal to the inkjet printer through IO information exchange.

6. The connector key position automatic identification and marking printing control system according to claim 4, characterized in that: The electric gripper controller controls the electric gripper actuator to clamp the current workpiece to be processed by a torque control method; during the clamping process, when the force value reaches a set value, it is determined that the current workpiece to be processed is clamped in place.

7. The connector key position automatic identification and marking printing control system according to claim 3, characterized in that: In the compensation adjustment module, the coordinate position of the printed mark after compensation is (x0, y0, z0, u0+Δu), wherein x0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the X-axis of the manipulator space coordinate system, y0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Y-axis of the manipulator space coordinate system, z0 is the coordinate value corresponding to the initial coordinate position of the printed mark on the Z-axis of the manipulator space coordinate system, u0 is the initial angle of the manipulator actuator rotation axis in the manipulator space coordinate system at the initial coordinate position of the printed mark, and Δu is the calculated deviation angle of the key position; wherein the manipulator space coordinate system takes a point on the manipulator rotation center axis as the origin, the vertical upward direction of the rotation center axis is the positive direction of the Z-axis, and the right-hand rule is used to determine the X-axis and Y-axis located in the horizontal direction and perpendicular to each other respectively; the rotation axis is vertically installed at the end of the manipulator, and is used to control the workpiece to be processed to be lifted up and down or rotate along the rotation axis after grabbing the workpiece to be processed.

8. The connector key position automatic identification and marking printing control system according to claim 3, characterized in that: The image acquisition module also includes a light source control unit, which is used to control the light source motor to adjust the height position of the light source using a light source motor controller before the image acquisition device takes a photo of the current workpiece to be processed, so that the distance from the lower surface of the workpiece to be processed to the light source is a preset distance value; the light source is located between the image acquisition device and the workpiece to be processed at the industrial vision photography coordinate position.

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