A connector key position automatic identification and identification jet printing control method and system

Abstract

The application relates to the technical field of processing equipment control, and discloses a connector key position automatic recognition and marking and spraying control method and system, which realizes automatic grabbing of the connector, automatic photographing and recognition of the key position, calculation of the deviation angle of the key position, automatic marking and spraying after angle compensation by a mechanical hand by adopting the form of combination of software and hardware. The application can realize automatic grabbing, automatic photographing and recognition of the key position and automatic marking and spraying of different specifications of the connector, changes the production and operation mode that one set of tooling corresponds to one specification of workpiece or manual recognition of the key position direction and unified placement, solves the problem that the original production mode cannot guarantee the consistency of spraying, reduces the work of manual recognition of the key position direction, and improves the production efficiency of products.

Description

Technical Field

[0001] This invention relates to the field of processing equipment control technology, and discloses a method and system for automatic identification and marking printing control of connector key positions. Background Technology

[0002] Currently, inkjet printing on connector products is achieved in two ways. The first method is to fix the inkjet printing head in place, and manually fix the workpiece on a rotary motor using a tooling. Pressing a switch triggers the motor to rotate, and the motor drives the encoder to trigger the inkjet printing head to print. The second method is also to fix the inkjet printing head in place, and manually place the workpiece on a material tray in a designated direction. A robotic arm is then activated to automatically pick up the material, grip it at the inkjet printing position, and automatically rotate and trigger the inkjet printing head to print.

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

[0004] The main problem with the second processing method is that by manually identifying the direction of the connector keys and manually placing the workpieces in the tray in the specified direction, there will be deviations in the printing angle of the markings, and the consistency of the products cannot be guaranteed. Summary of the Invention

[0005] The purpose of this invention is to provide a control system based on software programming to automatically identify connector key positions and print markings. This system can automatically grasp the connector, automatically take pictures to identify the key position, calculate the deviation angle of the key position, and automatically print markings after angle compensation by a robotic arm.

[0006] To achieve the above-mentioned technical effects, the technical solution adopted by the present invention is as follows:

[0007] A method for automatic identification and marking printing control of connector key positions includes:

[0008] Obtain the processing parameters of the current workpiece to be processed. The processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision photo, the initial coordinate position of the inkjet marking, and the rotational angular velocity of the robot arm during inkjet printing.

[0009] The robot arm actuator is generated based on the coordinate position of the current workpiece to be processed. The robot arm actuator is then controlled to move to the workpiece picking position and the electric gripper is controlled to hold the current workpiece to be processed.

[0010] After the electric gripper finishes clamping the workpiece, the robot arm is controlled to move the workpiece to the industrial vision photography coordinate position and take a picture of the workpiece using the image acquisition device.

[0011] After the image acquisition device takes a picture, it identifies the key position of the workpiece to be processed and calculates the deviation angle of the key, which is the angle between the key and the vertical direction.

[0012] The deviation angle is transmitted to the robot controller to compensate for the already calculated inkjet marking coordinates and control the robot to move the workpiece to be processed to the compensated inkjet marking coordinates.

[0013] Once the workpiece reaches the compensated coordinate position for printing the mark, the robot arm is controlled to rotate clockwise at a preset rotational speed. Simultaneously, the inkjet printer is controlled to start printing the mark. After the robot arm completes its rotation, the current workpiece is returned to its original picking position. Then, the next workpiece printing process begins until all workpieces in the tray have been printed.

[0014] Furthermore, before the image acquisition device takes a picture of the workpiece to be processed, the light source motor controller is used to adjust the height 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 coordinates of the printed mark are compensated again, resulting in a coordinate position of (x0, y0, z0, u0 + Δu), where x0 is the initial coordinate of the printed mark on the X-axis of the robot's spatial coordinate system, y0 is the initial coordinate of the printed mark on the Y-axis of the robot's spatial coordinate system, z0 is the initial coordinate of the printed mark on the Z-axis of the robot's spatial coordinate system, u0 is the initial angle of the robot's actuator rotation axis in the robot's spatial coordinate system, and Δu is the calculated deviation angle of the key position. The robot's spatial coordinate system uses a point on the robot's rotation center axis as its origin, with the vertically upward direction of the rotation center axis as the positive direction of the Z-axis. The right-hand rule is used to determine the horizontally oriented and mutually perpendicular X-axis and Y-axis. The rotation axis is vertically mounted at the end of the robot and is used to control the workpiece to be processed to move up and down or rotate along the rotation axis after gripping it.

[0016] To achieve the above-mentioned technical effects, the present invention also provides an automatic connector key identification and marking printing control system for implementing the aforementioned automatic connector key identification and marking printing control method, comprising:

[0017] The host computer is used to acquire the processing parameters of the workpiece to be processed. The processing parameters include the coordinate position of the workpiece to be processed, the coordinate position of the industrial vision photo, the initial coordinate position of the inkjet marking, and the rotational angular velocity of the robot arm during inkjet printing.

[0018] The robotic arm module includes a robotic arm controller and a robotic arm actuator. The robotic arm controller generates a workpiece pick-up position corresponding to the robotic arm actuator based on the coordinate position of the current workpiece to be processed, and controls the robotic arm actuator to move to the workpiece pick-up position. After the electric gripper completes clamping the current workpiece to be processed, the controller controls the robotic arm actuator to move the workpiece to be processed to the industrial vision imaging coordinate position. After receiving the compensated inkjet marking coordinate position, the controller controls the robotic arm actuator to move the workpiece to be processed to the compensated inkjet marking coordinate position. During the inkjet marking process, the controller controls the robotic arm actuator to drive the workpiece to be processed to rotate. After the marking is completed, the workpiece is returned to its original pick-up position.

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

[0020] The image acquisition module is used to take pictures of the workpiece after it has moved to the industrial vision imaging coordinate position.

[0021] The deviation analysis module is used to identify the key position of the workpiece to be processed after the image acquisition device has taken a picture, and to calculate the deviation angle of the key position, wherein the deviation angle is the angle between the key position and the vertical direction.

[0022] The compensation adjustment module is used to compensate the already calculated and generated inkjet marking coordinate position again, generate the compensated inkjet marking coordinate position, and transmit the compensated inkjet marking coordinate position to the robot controller.

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

[0024] Furthermore, it also includes a PLC. The host computer transmits the corresponding processing parameters to the PLC, which then transmits them to the electric gripper controller and the light source motor controller via Ether-CAT communication. The PLC and the image acquisition module interact via Modbus-TCP communication. After the PLC determines that the workpiece has moved to the image acquisition position, it sends an image acquisition signal to the image acquisition module. At the same time, after taking the picture, the image acquisition module transmits the calculated key deviation angle back to the PLC. The PLC and the robot controller interact via IO information to send the inkjet printing trigger signal to the inkjet printer.

[0025] Furthermore, the electric gripper controller uses torque control to control the electric gripper actuator to grip the current workpiece to be processed; during the gripping process, when the force value reaches the set value, it is determined that the current workpiece to be processed has been gripped in place.

[0026] Further, in the compensation adjustment module, the compensated coordinate position of the printed mark is (x0, y0, z0, u0 + Δu), where x0 is the coordinate value of the initial coordinate position of the printed mark on the X-axis of the robot's spatial coordinate system, y0 is the coordinate value of the initial coordinate position of the printed mark on the Y-axis of the robot's spatial coordinate system, z0 is the coordinate value of the initial coordinate position of the printed mark on the Z-axis of the robot's spatial coordinate system, u0 is the initial angle of the robot's actuator rotation axis in the robot's spatial coordinate system, and Δu is the calculated deviation angle of the key position; wherein the robot's spatial coordinate system takes a point on the robot's rotation center axis as the origin, the vertically 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 horizontal and mutually perpendicular X-axis and Y-axis respectively; the rotation axis is vertically installed at the end of the robot and is used to control the workpiece to be processed to move up and down or rotate along the rotation axis after grasping the workpiece to be processed.

[0027] Furthermore, the image acquisition module also includes a light source control unit. Before the image acquisition device takes a picture of the workpiece to be processed, the light source control unit uses a light source motor controller 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.

[0028] Compared with the prior art, the beneficial effects of this invention are:

[0029] This invention uses a combination of hardware and software to automatically grasp connectors, automatically take pictures to identify key positions, calculate the deviation angle of the key positions, and automatically print markings after angle compensation by a robotic arm.

[0030] This invention enables automatic grasping, automatic photographing and identification of key positions for connectors of different specifications, and automatic printing of markings. It changes the traditional production and operation method of one set of tooling for one specification of workpiece, or manual identification of key position orientation and uniform placement. It improves the versatility, accuracy and efficiency of the control system for connector key position and marking, solves the problem of inconsistent printing in the original production method, reduces the work of manually identifying key position orientation, and improves product production efficiency. Attached Figure Description

[0031] Figure 1 This is a flowchart of the connector key automatic identification and marking inkjet printing control method in the embodiment;

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

[0033] Figure 3 This is a schematic diagram of a connector key automatic identification and marking inkjet printing control system in one embodiment;

[0034] The components include: 1. Host computer; 2. Robotic arm module; 201. Robotic arm controller; 202. Robotic arm actuator; 3. Electric gripper module; 301. Electric gripper controller; 302. Electric gripper actuator; 4. Image acquisition module; 401. Light source motor controller; 5. Deviation analysis module; 501. Camera; 6. Compensation and adjustment module; 7. Marking and printing module; 701. Inkjet printer; 8. PLC. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0036] Example

[0037] See Figures 1-3 A method for automatic identification and marking printing control of connector key positions, comprising:

[0038] Obtain the processing parameters of the current workpiece to be processed. The processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision photo, the initial coordinate position of the inkjet marking, and the rotational angular velocity of the robot arm during inkjet printing.

[0039] Based on the coordinate position of the current workpiece to be processed, the corresponding workpiece picking position of the robot actuator 202 is generated, the robot actuator 202 is controlled to move to the workpiece picking position, and the electric gripper is controlled to hold the current workpiece to be processed.

[0040] After the electric gripper finishes clamping the workpiece, the robot arm is controlled to move the workpiece to the industrial vision photography coordinate position and take a picture of the workpiece using the image acquisition device.

[0041] After the image acquisition device takes a picture, it identifies the key position of the workpiece to be processed and calculates the deviation angle of the key, which is the angle between the key and the vertical direction.

[0042] The deviation angle is transmitted to the robot controller 201, which compensates for the already calculated inkjet marking coordinate position and controls the robot to move the current workpiece to be processed to the compensated inkjet marking coordinate position.

[0043] Once the workpiece reaches the compensated coordinate position for printing the mark, the robot arm is controlled to rotate clockwise at a preset rotational speed. At the same time, the inkjet printer 701 is controlled to start printing the mark. After the robot arm completes its rotation, the current workpiece is returned to its original picking position. Then, the next workpiece printing process begins until all workpieces in the tray have been printed.

[0044] In this embodiment, a combination of hardware and software is used to automatically grasp the connector, automatically photograph and identify the key positions, calculate the key deviation angle, and automatically print markings after angle compensation by a robotic arm. This method enables automatic grasping of connectors of different specifications, automatic photographing and identification of key positions, and automatic marking. It changes the traditional production and operation methods that require a set of tooling for each specification of workpiece or manual identification of key orientation and uniform placement. This solves the problem of inconsistent printing in the original production method, reduces the manual work of identifying key orientation, and improves product production efficiency.

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

[0046] The host computer 1 is used to acquire the processing parameters of the current workpiece to be processed. The processing parameters include the coordinate position of the current workpiece to be processed, the coordinate position of the industrial vision photography, the initial coordinate position of the inkjet marking, and the rotational angular velocity of the robot arm during inkjet printing.

[0047] The robotic arm module 2 includes a robotic arm controller 201 and a robotic arm actuator 202. The robotic arm controller 201 is used to generate a workpiece picking position corresponding to the robotic arm actuator 202 based on the coordinate position of the current workpiece to be processed, and control the robotic arm actuator 202 to move to the workpiece picking position; and, after the electric gripper finishes clamping the current workpiece to be processed, control the robotic arm actuator 202 to move the workpiece to be processed to the industrial vision imaging coordinate position; and, after receiving the compensated inkjet marking coordinate position, control the robotic arm actuator 202 to move the workpiece to be processed to the compensated inkjet marking coordinate position; and, during the inkjet printing process of the inkjet printer 701, control the robotic arm actuator 202 to drive the workpiece to be processed to rotate; and, after the inkjet printing is completed, return the workpiece 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 robotic arm actuator 202. The electric gripper controller 301 is used to control the electric gripper to clamp the workpiece to be processed after the robotic arm actuator 202 moves to the workpiece picking position.

[0049] Image acquisition module 4 is used to take pictures of the workpiece after it has moved to the industrial vision photography coordinate position.

[0050] Deviation analysis module 5 is used to identify the key position of the workpiece to be processed after the image acquisition device completes the photo taking, and to calculate 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 already calculated and generated inkjet mark coordinate position again, generate the compensated inkjet mark coordinate position, and transmit the compensated inkjet mark coordinate position to the robot controller 201.

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

[0053] The connector key and marking control system of this embodiment can automatically grasp connectors of different specifications, automatically take pictures to identify key positions and automatically mark them, improving the versatility, accuracy and efficiency of the connector key and marking control system, and improving the production efficiency of the product.

[0054] In this embodiment, the preset rotational angular velocity of the workpiece to be processed is... Where ω0 is the test angular velocity of the calibration component, r0 is the radius of the calibration component, and r is the radius of the workpiece to be processed. The calibration component is the workpiece used during the initial debugging of the control system to calibrate the points that the program will reach during operation. That is, the calibration component is used to teach the points in each operation process (e.g., coordinate points for industrial vision photography, coordinate points for inkjet marking), while controlling the robot actuator 202 to hold the calibration component. By adjusting the rotation speed of the robot actuator 202's rotating axis to match the inkjet printer 701's printing speed, the finally adjusted rotation speed is defined as the test angular velocity ω0 of the calibration component.

[0055] By statistically analyzing the actual processing of various types of workpieces, it was found that after the robotic arm rotates 130 degrees, it can achieve the set rotational speed for actual operation. That is, this 130-degree movement is the process of accelerating the robotic arm's rotation. The subsequent 360-degree uniform rotation is during which the inkjet printer 701 prints the workpiece, ensuring that the workpiece is marked all the way around. The final 130-degree rotation is the process of decelerating the robotic arm's rotation, the purpose of which is to ensure that the preceding 360-degree rotation is at a uniform speed, resulting in consistent marking size and appearance. Therefore, in this embodiment, when controlling the robotic arm to rotate clockwise at a preset rotational angular velocity, the rotation angle is set to 620 degrees. This rotation angle ensures that the robotic arm can complete one full rotation during the uniform rotation phase. Simultaneously, in this embodiment, the inkjet printer 701 starts printing markings when the rotation reaches 130 degrees. After the robotic arm completes its rotation, the workpiece is returned to its original picking position.

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

[0057] It also includes a PLC8. The host computer 1 transmits the corresponding processing parameters to the PLC8, which then transmits them to the electric gripper controller 301 and the light source motor controller 401 via Ether-CAT communication. The PLC8 and the image acquisition module 4 interact via Modbus-TCP communication. That is, after the PLC8 determines that the workpiece has moved to the imaging position, it tells the image acquisition module 8 to take a picture. At the same time, after taking the picture, the image acquisition module 8 transmits the calculated key deviation angle back to the PLC8. The PLC8 and the robot controller 201 interact via IO information to send the inkjet printing trigger signal to the inkjet printer 701.

[0058] In this embodiment, the electric gripper controller 301 uses torque control to control the electric gripper actuator 302 to grip the current workpiece to be processed; during the gripping process, when the force value reaches the set value, it is determined that the current workpiece to be processed has been gripped in place.

[0059] In this embodiment, in the compensation adjustment module 6, the compensated coordinate position of the printed mark is (x0, y0, z0, u0 + Δu), where x0 is the coordinate value of the initial coordinate position of the printed mark on the X-axis of the robot space coordinate system, y0 is the coordinate value of the initial coordinate position of the printed mark on the Y-axis of the robot space coordinate system, z0 is the coordinate value of the initial coordinate position of the printed mark on the Z-axis of the robot space coordinate system, u0 is the initial angle of the initial coordinate position of the printed mark on the rotation axis of the robot actuator 202 in the robot space coordinate system, and Δu is the calculated deviation angle of the key position; wherein the robot space coordinate system takes a point on the rotation center axis of the robot as the origin, the vertically 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 horizontal and mutually perpendicular X-axis and Y-axis respectively; the rotation axis is vertically installed at the end of the robot and is used to control the workpiece to be processed to move up and down or rotate along the rotation axis after grasping the workpiece to be processed.

[0060] In this embodiment, the image acquisition module 4 further includes a light source control unit. This control unit adjusts the height of the light source using a light source motor controller 401 before the image acquisition device takes a picture of the workpiece to be processed, ensuring that the distance from the lower surface of the workpiece to the light source is a preset value. The light source is located between the image acquisition device and the workpiece at the industrial vision imaging coordinate position. This ensures the distance between the workpiece and the light source during vision imaging, thereby guaranteeing the quality of the captured image.

[0061] In this embodiment, the connector keypad automatic identification and marking inkjet printing control system can be divided into a control layer, a drive layer, and an execution layer. The control layer includes a host computer 1; the drive layer includes a robot controller 201, an electric gripper controller 301, and a light source motor controller 401; and the execution layer includes a robot actuator 202, an electric gripper actuator 302, an image acquisition device (camera 501), a light source, and an inkjet printer 701. By storing and retrieving processing parameters on the host computer 1 (including an HMI and an industrial computer), the host computer 1 downloads the processing parameters of the current workpiece to be processed to the corresponding drive layer device. The robot controller 201 automatically calculates the coordinate position of the robot gripping the workpiece, the coordinate position of the industrial vision photograph, the coordinate position of the inkjet marking, and the rotational angular velocity of the robot during inkjet printing based on the transmitted data and internal program algorithms. When the device start button is pressed, the robot controller 201 drives the corresponding execution layer (robot actuator 202) to reach the calculated material-picking position. Simultaneously, after transmitting the arrival of the material-picking position IO signal via Modbus-TCP communication, the electric gripper controller 301 drives the corresponding execution layer (electric gripper 302) to clamp the workpiece. After the electric gripper 302 completes the workpiece clamping action, the robot controller 201, through Modbus-TCP communication, drives the robot actuator 202 in the execution layer to reach the calculated image-taking position. After transmitting the arrival of the image-taking position IO signal via Modbus-TCP communication, the control execution layer (light source and camera 501) is activated and takes an image. After the camera 501 takes an image, the vision system automatically captures and identifies the key position, calculates the key deviation angle, and transmits this data to the robot controller 201 in the drive layer. The calculated inkjet marking coordinates are then compensated again, and the robot controller 201 drives the robot actuator 202 in the execution layer to reach the final calculated inkjet marking coordinates. After the robotic arm reaches the marking position, it rotates at a calculated angular velocity. Simultaneously, the robotic arm controller 201 triggers the inkjet printer 701 to start marking via an I / O signal. After the robotic arm completes its rotation, it returns the workpiece to its original picking position. Then, it begins the next workpiece marking process until all workpieces in the tray have been marked.

[0062] The above are merely 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 within the protection scope of the present invention.

Claims

1. A connector key position automatic identification and marking printing control system, characterized in that, include: The host computer is used to acquire the processing parameters of the workpiece to be processed. The processing parameters include the coordinate position of the workpiece to be processed, the coordinate position of the industrial vision image, the initial coordinate position of the inkjet marking, and the rotational angular velocity of the robot arm during inkjet printing. The workpiece to be processed is a connector. The robotic arm module includes a robotic arm controller and a robotic arm actuator. The robotic arm controller is used to generate a workpiece picking position corresponding to the robotic arm actuator based on the coordinate position of the current workpiece to be processed, and to control the robotic arm actuator to move to the workpiece picking position. And, after the electric gripper finishes clamping the current workpiece to be processed, the robotic arm actuator is controlled to move the workpiece to be processed to the industrial vision imaging coordinate position; and, after receiving the compensated inkjet marking coordinate position, the robotic arm actuator is controlled to move the workpiece to be processed to the compensated inkjet marking coordinate position; and, during the inkjet printing process, the robotic arm actuator is controlled to drive the workpiece to be processed to rotate; and, after the inkjet printing is completed, the workpiece is returned to the original picking position; An electric gripper module, comprising an electric gripper controller and an electric gripper actuator, wherein the electric gripper actuator is mounted on the robotic arm actuator, and the electric gripper controller is used to control the electric gripper to clamp the workpiece to be processed after the robotic arm actuator moves to the workpiece picking position; The image acquisition module is used to take pictures of the workpiece after it has moved to the industrial vision imaging coordinate position. The deviation analysis module is used to identify the key position of the workpiece to be processed after the image acquisition device has taken a picture, and to calculate the deviation angle of the key position, wherein the deviation angle is the angle between the key position and the vertical direction. The compensation adjustment module is used to compensate the already calculated and generated inkjet marking coordinate position again, generate the compensated inkjet marking coordinate position, and transmit the compensated inkjet marking coordinate position to the robot controller. The marking and printing module is used to control the robot arm to rotate clockwise at a preset rotational speed when the workpiece reaches the compensated marking coordinate position, and at the same time control the inkjet printer to start printing the marking. When controlling the robot arm to rotate clockwise at the preset rotational speed, the rotation angle is set to 620 degrees. The robot arm first rotates 130 degrees to accelerate the rotation, then rotates 360 degrees uniformly. During this process, the inkjet printer prints the workpiece. Finally, the robot arm rotates 130 degrees to decelerate the rotation. The host computer transmits the corresponding processing parameters to the PLC, which then transmits them to the electric gripper controller and the light source motor controller via Ether-CAT communication. The PLC and the image acquisition module interact via Modbus-TCP communication. After the PLC determines that the workpiece has moved to the image acquisition position, it sends an image acquisition signal to the image acquisition module. At the same time, after taking the picture, the image acquisition module transmits the calculated key deviation angle back to the PLC. The PLC and the robot controller interact via IO information to send the inkjet printing trigger signal to the inkjet printer. In the compensation adjustment module, the coordinate position of the printed mark after compensation is ( x 0 ,y 0 ,z 0 ,u 0+ Δu ),in x 0 represents the initial coordinates of the printed mark on the X-axis of the robot's spatial coordinate system. y 0 represents the initial coordinates of the printed mark on the Y-axis of the robot's spatial coordinate system. z 0 represents the initial coordinates of the printed mark on the Z-axis of the robot's spatial coordinate system. u 0 represents the initial coordinate position of the inkjet marking in the robot's spatial coordinate system, specifically the initial angle of the robot's actuator rotation axis. Δu The deviation angle of the obtained key position is calculated; the spatial coordinate system of the robot arm takes a point on the rotation center axis of the robot arm 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 which are located in the horizontal direction and are perpendicular to each other; the rotation axis is vertically installed at the end of the robot arm and is used to control the workpiece to be processed to move up and down or rotate along the rotation axis after grasping the workpiece to be processed. The image acquisition module also includes a light source control unit. Before the image acquisition device takes a picture of the workpiece to be processed, the light source control unit uses a light source motor controller 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.

2. The connector key automatic identification and marking printing control system according to claim 1, characterized in that, The electric gripper controller uses torque control to control the electric gripper actuator to grip the workpiece to be processed. During the gripping process, when the force value reaches the set value, it is determined that the workpiece to be processed has been gripped in place.

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