Flight laser marking system and marking method

Abstract

The invention discloses a flight laser marking system and a flight laser marking method, and relates to the technical field of laser marking. The flying laser marking system comprises a feeding mechanism, a conveying mechanism, a marking visual positioning module, a laser marking machine, a visual detecting and positioning module, a defective product removing mechanism, a discharging mechanism, a sensing module and a main control and data processing system. The conveying mechanism comprises a product bearing belt and a synchronous belt. The sensing module comprises an encoder and a light reflection sensor. And the product supporting belt adopts a longitudinal groove array structure or a single / multiple transverse groove structure. The method comprises the steps of feeding control, visual positioning before marking, Y-axis coordinate calibration compensation, visual quality detection after marking, defective product removal, discharging control and the like. Continuous and full-automatic production is achieved, the production efficiency is greatly improved compared with static marking, meanwhile, the marking precision is guaranteed through the visual positioning and compensation technology, and online product quality control and defective product removal are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser marking machines, in particular to a flying laser marking system and a marking method. BACKGROUND

[0002] A laser marking machine realizes permanent marking on the surface of various materials by a laser beam: after the laser irradiates the surface of the processed material, the material absorbs the laser energy, a thermal excitation reaction occurs in the irradiation area, which causes the temperature of the material surface (or coating) to rise, resulting in physical and chemical changes such as deformation, melting, ablation, and vaporization, and finally forming a permanent mark.

[0003] At present, laser marking technology has been widely used in various production and manufacturing scenes. With the development of manufacturing industry towards automation and high efficiency, flying laser marking technology emerges as the times require, which can complete marking during product movement without stopping, greatly improving production efficiency. However, the existing flying laser marking system still has some shortcomings: first, the marking accuracy is difficult to guarantee, because there may be problems such as position deviation and synchronous belt swing during product movement, resulting in inaccurate marking position; second, there is a lack of effective online quality detection and defective product rejection mechanism, which cannot realize 100% quality control; third, the coordination of feeding, marking, detection and other links is poor, and the automation degree needs to be improved.

[0004] Therefore, the present application carries out in-depth research on various defects and use pain points caused by the imperfections of the existing flying marking equipment design, optimizes the structure design, improves the working principle and repeatedly tests and verifies, and finally develops the present application. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art, provide a flying laser marking system and a flying laser marking method which can realize full-automatic flying marking and avoid marking position deviation and missing marking.

[0006] In order to achieve the above purpose, the solution of the present application is: A flying laser marking system, comprising a feeding mechanism, a conveying mechanism, a marking visual positioning module, a laser marking machine, a visual detection and positioning module, a defective product rejection mechanism, a discharging mechanism, a sensing module and a main control and data processing system, the marking visual positioning module, the laser marking machine, the visual detection and positioning module, the defective product rejection mechanism and the sensing module are connected to the main control and data processing system respectively; The feeding mechanism is arranged at the starting end of the conveying mechanism or on one side of the conveying mechanism upstream of the marking visual positioning module, and the product is transferred from the feeding mechanism to the conveying mechanism; The conveying mechanism includes a timing belt and a product support belt. The product support belt is installed on the timing belt to carry the products to be passed sequentially through the marking vision positioning module, the laser marking machine, the vision inspection and positioning module, and the defective product rejection mechanism. The sensing module includes a light reflection sensor and an encoder. The encoder is connected to the drive mechanism of the synchronous belt to collect the speed of the synchronous belt and the X-axis coordinate information in real time. The light reflection sensor is installed upstream of the feeding area and / or the defective product rejection area of ​​the product support belt. The marking vision positioning module is located upstream of the laser marking machine and includes a first industrial camera and a first vision processing unit. The first industrial camera is used to capture images of the moving product to be marked and to obtain the positioning coordinates and rotation angle information of the product to be marked. The first industrial camera is connected to the main control and data processing system. The first vision processing unit processes the images captured by the first industrial camera and calculates the current positioning coordinates and rotation angle of the product to be marked. The laser marking machine is used to laser mark the product to be marked according to the instructions of the main control and data processing system. It includes a galvanometer assembly, which is electrically connected to the main control and data processing system. The deflection angle is adjusted in real time according to the positioning coordinates and rotation angle of the product, so that the laser beam can accurately act on the target marking position of the product. The vision inspection and positioning module is located downstream of the laser marking machine to determine whether the marking quality of the product is up to standard; the judgment result is sent to the main control and data processing system. The defective product rejection mechanism is used to reject products that are judged to be defective according to instructions from the main control and data processing system. The feeding mechanism is used to feed qualified marked products. The main control and data processing system calculates the Y-axis compensation value based on the detection data from the vision inspection and positioning module, and corrects the marking coordinates of the next product to be marked; the specific steps of Y-axis coordinate calibration and compensation include: S41. The marking vision positioning module captures the positioning coordinates (A1, B1) of product 1 and records the capture time as T1. The main control and data processing system calculates the compensation distance Lmove1 = (Tmarking1 - T1) × V based on the marking time Tmarking1 and the synchronous belt speed V of product 1, and determines the marking coordinates of product 1 by the laser marking machine as (A1 + Lmove1, B1). S42. The visual inspection and positioning module captures the positioning coordinates (C1, D1) of product 1 to obtain the actual position information of product 1 after marking. S43. The visual inspection and positioning module captures the positioning coordinates (A2, B2) of product 2 and records the capture time as T2. The main control and data processing system calculates the compensation distance Lmove2 = (Tmarking2 - T2) × V, and determines the initial marking coordinates of product 2 by the laser marking machine as (A2 + Lmove2, B2), where Tmarking2 is the marking time of product 2. S44. Calculate X1 = Lmove2 × [(D1-B1) / (C1-A1)] using an approximate triangular model, where X1 is the estimated deviation in the Y-axis direction; S45. Set the correction amount K, and finally calculate the Y-axis coordinate compensation value = X1 + K; S46. Correct the actual marking coordinates of product 2 to (A2+Lmove2,B2+Y compensation).

[0007] Furthermore, an anti-stacking mechanism is provided upstream of the marking visual positioning module. This anti-stacking mechanism includes an inclined soft brush, which is positioned above the product support belt and corresponds to the product placement position. A product storage box is provided at the bottom of the end of the synchronous belt in the conveying direction, and an anti-jamming mechanism is provided between the end of the synchronous belt and the product storage box.

[0008] Furthermore, the product support belt has a longitudinal groove array structure, the encoder is connected to the synchronous belt drive mechanism to collect the synchronous belt's movement speed and position information in real time, and the defective product rejection mechanism adopts an air blowing module. The air blowing module is installed on one side of the synchronous belt, and a defective product storage box is set on the opposite side of the synchronous belt from the air blowing module, so that the air blowing module blows the defective products into the defective product storage box through jet air.

[0009] Furthermore, the product support belt has a single or multiple transverse groove structure; the defective product rejection mechanism includes a 180-degree rotating arm with suction cups at both ends, and a defective product storage box is provided on one side of the conveying mechanism within the rotation range of the rotating arm.

[0010] The feeding mechanism includes a vibratory feeder, a linear vibratory guide rail, and a rotating arm. The linear vibratory guide rail is located at the discharge port of the vibratory feeder and has guide grooves corresponding to the length, width, or diameter of the product. A rotating cylinder is connected to the middle of the rotating arm, and a suction cup is provided at each of the left and right ends of the rotating arm. One suction cup is located above the guide groove of the linear vibratory guide rail, and the other suction cup corresponds to the conveying mechanism.

[0011] The present invention can also adopt the following technical solutions: A method for flight laser marking based on the aforementioned flight laser marking system includes the following steps: S1. Feeding control: The feeding mechanism transports the product to the moving product support belt. The main control and data processing system controls the feeding time of the feeding mechanism based on the detection signal of the light reflection sensor. S2. Visual positioning before marking: The visual inspection and positioning module captures the product in motion and obtains the product positioning coordinates and rotation angle information. The encoder collects the synchronous belt position information. The main control and data processing system integrates the above information to calculate the marking trigger time and marking coordinates. S3, Laser Marking: When the marking trigger time is reached, the main control and data processing system controls the laser marking machine to adjust the galvanometer deflection angle and perform laser marking on the product; S4, Y-axis coordinate calibration and compensation: Calculate the Y-axis compensation value based on the detection data from the vision inspection and positioning module to correct the marking coordinates of subsequent products; the specific steps for Y-axis coordinate calibration and compensation include: S41. The marking vision positioning module captures the positioning coordinates (A1, B1) of product 1 and records the capture time as T1. The main control and data processing system calculates the compensation distance Lmove1 = (Tmarking1 - T1) × V based on the marking time Tmarking1 and the synchronous belt speed V of product 1, and determines the marking coordinates of product 1 by the laser marking machine as (A1 + Lmove1, B1). S42. The visual inspection and positioning module captures the positioning coordinates (C1, D1) of product 1 to obtain the actual position information of product 1 after marking. S43. The visual inspection and positioning module captures the positioning coordinates (A2, B2) of product 2 and records the capture time as T2. The main control and data processing system calculates the compensation distance Lmove2 = (Tmarking2 - T2) × V, and determines the initial marking coordinates of product 2 by the laser marking machine as (A2 + Lmove2, B2), where Tmarking2 is the marking time of product 2. S44. Calculate X1 = Lmove2 × [(D1-B1) / (C1-A1)] using an approximate triangular model, where X1 is the estimated deviation in the Y-axis direction; S45. Set the correction amount K, and finally calculate the Y-axis coordinate compensation value = X1 + K; S46. Correct the actual marking coordinates of product 2 to (A2+Lmove2,B2+Y compensation). S5. Visual quality inspection after marking: The visual inspection and positioning module photographs the marked product and judges the marking quality, and performs coordinate positioning for defective products. S6. Defective Product Rejection: The main control and data processing system calculates and controls the defective product rejection mechanism to reject defective products; S7. Product unloading: Products that have passed visual inspection and positioning module inspection are unloaded through the unloading mechanism.

[0012] Further, in step S1, the feeding mechanism has a rotating arm, a rotating cylinder is connected to the middle of the rotating arm, and a suction cup is provided at each of the left and right ends of the rotating arm. The conveying mechanism has a synchronous belt with multiple product support belts arranged longitudinally at equal intervals. The conveying direction of the synchronous belt is transverse, and a groove is formed between adjacent product support belts. Each groove corresponds to a falling edge and a rising edge. A light reflection sensor is provided on one side of the synchronous belt within the stroke range of the rotating arm. The specific steps of the feeding control are as follows: The light reflection sensor continuously detects the falling edge of the groove. The time to trigger the product placement is Ti+t period, where Ti is the time when the light reflection sensor detects the falling edge, and t period is the time when the synchronous belt moves one groove spacing, i=1, 2, 3...; When the product is in place on the rotating arm, the actual trigger placement time is Tn+t period, where Tn is the time when the light reflection sensor detects the first falling edge after the rotating arm is in place.

[0013] Furthermore, in step S2, the visual positioning before marking specifically includes: S21. When a product passes through the inspection area, the first industrial camera is triggered to take a picture or take a timed picture under the control of the main control and data processing system. The picture taking cycle is matched with the speed of the synchronous belt movement to ensure that each product is photographed at least once. S22. The first vision processing unit processes the image captured by the first industrial camera and calculates the current coordinates (X1, Y1, θ1) of the product, where θ1 is the rotation angle. At the same time, the encoder collects the X-direction coordinate information of the synchronous belt in real time and sends both to the main control and data processing system. S23. The main control and data processing system integrates the product positioning coordinates, the synchronous belt position information, and the effective marking area information of the laser marking machine to determine whether the product center coordinates fall within the marking center area. If the product center coordinates are within the marking center area, the marking trigger time and marking coordinates are calculated. The marking trigger time = T1 + delay time, where T1 is the photo taking time of the vision inspection and positioning module, and the delay time is calculated based on the synchronous belt speed and the distance from the product to the marking position. S24. Store the calculated marking trigger time and marking coordinates into the marking information queue. The marking information queue is stored in a first-in-first-out manner. When the marking tasks in the queue reach the trigger time, they are popped out of the queue in order and executed.

[0014] Furthermore, the effective marking area of ​​the laser marking machine includes a maximum marking area and a marking center area. The coordinates of the maximum marking area are (0-w / 2, 0-h / 2, w, h), and the coordinates of the marking center area are (0-w / 2+r, 0-h / 2+r, w-2r, h-2r), where w is the width of the marking area, h is the height of the marking area, and r is the maximum radius of the product. The main control and data processing system determines whether the product's center coordinates fall within the marking center area; only products within this area will be marked. When the marking task in the marking information queue reaches the preset marking trigger time, the main control and data processing system sends a marking instruction to the laser marking machine. The galvanometer component of the laser marking machine adjusts the deflection angle in real time according to the received marking coordinates and rotation angle information, so that the laser beam accurately acts on the target marking position of the product. At the same time, the laser marking machine emits a laser to mark the product, completing the marking action.

[0015] Furthermore, the aforementioned flying laser marking method also includes a data recording step, in which the main control and data processing system records the marking time, marking coordinates, compensation value, quality inspection results, and rejection status information for each product, thereby achieving full-process traceability of product quality.

[0016] After adopting the above solution, the flying laser marking system and marking method of the present invention have the following beneficial effects: Fully automated: The system of this invention integrates product feeding, positioning, marking, detection, defective product rejection, and good product unloading into one system. Each link works together without human intervention, which greatly reduces labor costs and avoids errors caused by human operation, thereby improving production stability.

[0017] High efficiency: The product of this invention completes all processes such as feeding, marking, inspection, rejection and unloading during the movement process without interruption, realizing true continuous production. The production efficiency is several times higher than that of static marking, which can meet the needs of large-scale production.

[0018] Online quality control: This invention uses a marking vision inspection and positioning module to perform quality inspection on each marked product. It can identify defective products online and remove them through a defective product rejection mechanism, ensuring the quality of all products leaving the factory. Simultaneously, the main control and data processing system records the quality information of each product, enabling full-process traceability of product quality and facilitating quality control. This invention ensures reliable marking quality for each product while achieving high-speed marking.

[0019] High precision: This invention obtains the precise position information of the product through the marking vision positioning module, and combines it with the motion data of the synchronous belt collected by the encoder to accurately calculate the marking trigger time and marking coordinates; at the same time, through the Y-axis coordinate calibration compensation method, it effectively corrects the marking deviation caused by the swing of the synchronous belt, and can ensure the marking position accuracy even in high-speed motion, thus meeting the requirements of high-precision marking.

[0020] High adaptability: This invention provides two product support belt structure schemes and corresponding feeding and rejection methods, which can adapt to the marking needs of products of different specifications and types, and have a wide range of applications. Attached Figure Description

[0021] Figure 1 This is a block diagram of the flying laser marking system of the present invention.

[0022] Figure 2 This is a three-dimensional schematic diagram of the first embodiment of the flying laser marking system of the present invention.

[0023] Figure 3 This is a front view of the first embodiment of the flying laser marking system of the present invention.

[0024] Figure 4 This is a top view schematic diagram of the first embodiment of the flying laser marking system of the present invention.

[0025] Figure 5 This is a side view of the first embodiment of the flying laser marking system of the present invention.

[0026] Figure 6 This is a three-dimensional schematic diagram of the second embodiment of the flying laser marking system of the present invention.

[0027] Figure 7 This is a front view of the second embodiment of the flying laser marking system of the present invention.

[0028] Figure 8 This is a three-dimensional schematic diagram of the third embodiment of the flying laser marking system of the present invention.

[0029] Figure 9 This is a front view of the third embodiment of the flying laser marking system of the present invention.

[0030] Figure 10 This is a schematic diagram of the feeding principle of the third embodiment of the flying laser marking system of the present invention.

[0031] Figure 11 This is a schematic diagram of the Y-axis coordinate calibration and compensation for the product of this invention.

[0032] Figure 12 This is a schematic diagram of the coordinate compensation triangle model for marking the Y-axis direction in this invention.

[0033] Label Explanation: 10. Feeding mechanism; 11. Vibratory feeder; 12. Straight vibration guide rail; 121. Guide groove; 13. Rotary arm; 14. Rotary cylinder; 15. Suction cup; 16. Anti-stacking mechanism; 20. Conveying mechanism; 21. Synchronous belt; 22. Product support belt; 23. Groove; 30. Marking vision positioning module; 40. Laser marking machine; 50. Vision inspection and positioning module; 60. Defective product rejection mechanism; 61. Air blowing module; 62. Defective product storage box; 70. Unloading mechanism; 71. Product storage box; 72. Anti-jamming mechanism; 80. Sensing module; 81. Light reflection sensor; 82. Encoder; 90. Main control and data processing system. Detailed Implementation

[0034] To further explain the technical solution of the present invention, the present invention will be described in detail below through specific embodiments.

[0035] like Figures 1 to 9 As shown, the present invention discloses a flying laser marking system, which includes a feeding mechanism 10, a conveying mechanism 20, a marking vision positioning module 30, a laser marking machine 40, a vision inspection and positioning module 50, a defective product rejection mechanism 60, a unloading mechanism 70, a sensing module 80, and a main control and data processing system 90. The feeding mechanism 10, the conveying mechanism 20, the marking vision positioning module 30, the laser marking machine 40, the vision inspection and positioning module 50, the defective product rejection mechanism 60, and the sensing module 80 are respectively connected to the main control and data processing system 90.

[0036] The loading mechanism 10 is located at the starting end of the conveying mechanism 20 or on one side of the conveying mechanism 20 upstream of the marking vision positioning module 30, transferring products from the loading mechanism 10 onto the conveying mechanism 20. The loading mechanism 10 can employ various loading methods, such as conveyor belt docking, elevators, vibratory feeders, or loading robots. Figures 2 to 5 The first embodiment shown and Figure 6 , Figure 7 In the second embodiment shown, the feeding mechanism 10 uses a vibratory feeder 11 and a linear vibratory guide rail 12. The pre-marked products are placed in the vibratory feeder 11. The vibratory feeder 11 uses electromagnetic vibration to generate directional micro-amplitude reciprocating motion. Combined with the inclination and structural design of the vibratory feeder channel, the products are arranged in an orderly manner along a predetermined trajectory and conveyed to the linear vibratory guide rail 12. The linear vibratory guide rail 12 has guide grooves 121 that correspond to the length, width or diameter of the products. After the products are discharged from the outlet of the vibratory feeder 11, they fall one by one into the guide grooves 121 of the linear vibratory guide rail 12, avoiding multiple products from entering the conveying mechanism 20 at the same time.

[0037] like Figures 8 to 10The third embodiment shown adds a rotating arm 13 to the first and second embodiments. A rotating cylinder 14 is connected to the middle of the rotating arm 13. A suction cup 15 is provided at each of the left and right ends of the rotating arm 13. The conveying mechanism 20 has a synchronous belt 21 with multiple product support belts 22 arranged longitudinally at equal intervals. The conveying direction of the synchronous belt 21 is transverse. A groove 23 is formed between adjacent product support belts 22. Each groove 23 corresponds to a falling edge and a rising edge. The sensing module 80 has a light reflection sensor 81. A light reflection sensor 81 is provided on one side of the synchronous belt 21 within the stroke range of the rotating arm 13. In this embodiment, the light reflection sensor 81 is used to detect the time of each falling edge of the conveying mechanism 20 (Ti / Tn, i / n=1, 2, 3, ..., continuous detection, Ti is the proposed trigger time, and Tn is the actual trigger time).

[0038] The vibratory feeder 11 and the linear guide rail 12 arrange the products into an orderly queue, ensuring that the rotating arm 13 can stably grasp them. The suction cups 15 at both ends of the rotating arm 13 are rotated and interchanged by the rotating cylinder 14. One suction cup 15 is located at the linear guide rail 12, and the other suction cup corresponds to the conveying mechanism 20. The rotating arm 13 completes the actions of picking up, transferring, and releasing the material, and the suction force of the suction cups 15 is used to achieve non-destructive grasping of the product. The light reflection sensor 81 set in the conveying mechanism 20 detects the position of the product when it is placed into the conveying mechanism 20, and sets the distance between the suction cup position and the light reflection sensor 81 as the distance between adjacent grooves 23. Combined with the trigger logic of "t + cycle", where "cycle" in "t + cycle" is the time interval between two adjacent grooves 23 of the support belt passing through the light reflection sensor 81, it ensures that the product is placed in the groove 23 position of the support belt 22 of the conveying mechanism 20.

[0039] The specific feeding action in the third embodiment is as follows: the product is placed into the vibratory feeder 11, which vibrates and organizes the product, outputting it from the linear guide rail 12 into a queue, waiting for the suction cup 15 of the rotating arm 13 to grab it; one end of the suction cup 15 of the rotating arm 13 moves to the linear guide rail 12 and picks up one product, while the other end of the suction cup 15 is in the feeding position of the transmission mechanism 20; the rotary cylinder 14 drives the rotating arm 13 to rotate, rotating the suction cup 15 that has picked up the product above the transmission mechanism 20, and the light reflection sensor 81 detects the "falling edge time" of the transmission mechanism 20. Combining the simulated trigger time of "t + cycle" (Ti, i=1, 2, 3, ..., continuously detected), the timing of material release is predicted; when the product on the rotating arm 13 is perfectly matched with the position of the conveying mechanism 20, the light reflection sensor 81 detects the falling edge time again, and combined with the actual trigger time of "t + cycle", the suction cup 15 releases the product and places it precisely on the groove 23 of the support belt 22 of the conveying mechanism 20. The other suction cup 15 picks up the material from the linear vibration guide rail 12 again, and the rotating arm 13 rotates to release the material. The above process is repeated to achieve continuous feeding.

[0040] To prevent products from stacking together during the feeding process of the feeding mechanism 10, the present invention also provides an anti-stacking mechanism 16 upstream of the marking visual positioning module 30. Figures 2 to 10 In the three embodiments shown, the anti-stacking mechanism 16 includes two spaced-apart inclined soft brushes positioned above the product support belt 22 and corresponding to the product placement position.

[0041] The conveying mechanism 20 includes a timing belt 21 and a product support belt 22. The product support belt 22 is used to carry the products to be marked and the products to be marked. This invention provides two structural schemes, Example 1 ( Figures 2 to 5 ) and Example 2 ( Figure 6 and Figure 7 The product support belt 22 has a single or multiple transverse grooves 23 structure, which is suitable for transporting products of different specifications. Example 3 ( Figures 8 to 10 The product support belt 22 has a longitudinal groove array structure 23. The grooves 23 are set to accommodate the protruding part under the product to be marked, ensuring that the upper surface of the product to be marked is horizontal.

[0042] The sensing module 80 includes at least an encoder 82, which is connected to the drive mechanism of the synchronous belt 21 to collect the speed and X-axis coordinate information of the synchronous belt 21 in real time, providing accurate motion parameter support for the calculation of marking trigger time and rejection trigger time. The sensing module 80 may further include a light reflection sensor 81, which can be installed upstream of the feeding area and the defective product rejection area of ​​the product support belt 22. The light reflection sensor 81 in the feeding area is used to detect the position signal of the groove 23 (as in Embodiment 3), providing the main control and data processing system 90 with a reference for the feeding time of the feeding mechanism 10; the light reflection sensor 81 upstream of the defective product rejection area is used to detect the falling edge of the groove 23, providing a basis for the calibration of the defective product rejection trigger time.

[0043] The marking vision positioning module 30 is located upstream of the laser marking machine 40 and includes a first industrial camera and a first vision processing unit. The first industrial camera is used to photograph the moving product and obtain its positioning coordinates and rotation angle information. The first industrial camera is controlled by the main control and data processing system 90 and can use triggered shooting or timed shooting. The shooting cycle is matched with the movement speed of the synchronous belt 21 to ensure that each product is photographed at least once and complete positioning information is obtained. The first vision processing unit can quickly and accurately calculate the current precise coordinates (X1, Y1, θ1) of the product through advanced image processing technologies such as template matching and blob analysis, where θ1 is the rotation angle, providing data support for subsequent accurate marking.

[0044] The workflow of the marking vision positioning module 30 is as follows: First, the product enters the shooting range of the first industrial camera of the marking vision positioning module 30; Then, the first industrial camera triggers a photo or takes a timed photo; Next, the first vision processing unit analyzes the captured images and quickly calculates the precise current position coordinates (X1, Y1, θ1) of the product. Subsequently, encoder 82 acquires the coordinate information of the X-axis direction of synchronous belt 21 in real time and sends it to the main control and data processing system 90; Finally, the main control and data processing system 90 integrates the product position coordinates, the position information of the synchronous belt 21, and the effective marking area information of the laser marking machine 40 to determine whether the product center coordinates fall within the marking center area. If so, it calculates the marking trigger time and marking coordinates and stores them in the marking information queue.

[0045] The marking trigger time = Ta + delay time, where Ta is the photo capture time of the marking visual positioning module 30, and the delay time is calculated based on the speed of the synchronization belt 21 and the distance from the product to the marking position. The marking information queue uses a first-in-first-out method to store the marking trigger time and marking coordinates. When the marking task in the queue reaches the trigger time, it is popped out of the stack and executed in sequence.

[0046] The laser marking machine 40 is used to laser mark products according to the instructions of the main control and data processing system 90. It includes a galvanometer assembly, which is electrically connected to the main control and data processing system 90. It can adjust the deflection angle in real time according to the positioning coordinates and rotation angle of the product to ensure that the laser beam accurately acts on the target marking position of the product.

[0047] The effective marking area of ​​the laser marking machine 40 includes a maximum marking area and a marking center area. The coordinates of the maximum marking area are (0-w / 2, 0-h / 2, w, h), and the coordinates of the marking center area are (0-w / 2+r, 0-h / 2+r, w-2r, h-2r), where w is the width of the marking area, h is the height of the marking area, and r is the maximum radius of the product. The main control and data processing system 90 determines whether the product's center coordinates fall within the marking center area. Only products within this area will be marked, ensuring the marking effect.

[0048] When the marking task in the marking information queue reaches the preset marking trigger time, the main control and data processing system 90 sends a marking instruction to the laser marking machine 40. The galvanometer component of the laser marking machine 40 adjusts the deflection angle in real time according to the received marking coordinates and rotation angle information to ensure that the laser beam accurately acts on the target marking position of the product. At the same time, the laser marking machine emits a laser to mark the product, completing the marking action.

[0049] During the marking process, the main control and data processing system 90 continuously receives the position information of the synchronous belt 21 sent by the encoder 82, and adjusts the marking parameters in real time to ensure that the marking process is synchronized with the product's movement state and to avoid marking deviation caused by product movement.

[0050] Due to errors in the machining or installation accuracy of the rollers in the horizontal motion drive mechanism of the synchronous belt 21, the synchronous belt 21 will experience slight back-and-forth swaying during rotation, causing a positional deviation of the product in the Y-axis direction, affecting the marking accuracy. The Y-axis sway deviation caused by machining or installation errors is systematic and stable, and will not change drastically in the short term. Therefore, to avoid positional deviation of the product in the Y-axis direction, this invention also designs a Y-axis coordinate calibration and compensation step. This step corrects the deviation by calculating a compensation value. Using the data from product 1, which has completed the entire process (visual positioning → marking → visual inspection), a Y-axis tilt model of the synchronous belt is established, and then this Y-axis tilt model is applied to product 2, which is currently being marked.

[0051] like Figure 11 As shown, the product 1 photographed by the marking visual positioning module 30 has coordinates (A1, B1) and the photographing time is T1. The marking coordinates of product 1 of laser marking machine 40 are (A1+Lmove1,B1). The visual inspection and positioning module 50 captures the positioning coordinates (C1, D1) of product 1. The visual inspection and positioning module 50 photographs the positioning coordinates (A2, B2) of product 2 at time T2. The marking coordinates for product 2 of the laser marking machine are: (A2 + Lmove2, B2). Marking coordinate calibration: Calculate the coordinate compensation in the Y-axis direction of the marking, such as... Figure 12 As shown, since the deviation angle is very small, an approximate triangular model is used for estimation: X1 = Lmove2 × [(D1-B1) / (C1-A1)], where X1 is the deviation caused by the tilt of the Y-axis of the synchronous belt 21, reflecting the correspondence between "X-axis movement distance" and "Y-axis deviation". Since the Y-axis tilt of the synchronous belt 21 is calculated by detecting the product 1 that has already passed the three stages of visual positioning, laser marking, and visual inspection, and this is used to calculate the Y-axis deviation compensation of the product being marked, a correction amount K needs to be added. The correction amount K can be dynamically adjusted according to the equipment operating status, the wear degree of the synchronous belt, etc. The adjustment cycle is the preset equipment maintenance cycle or a calibration is performed after each preset number of products are produced. After adding the correction amount K, the Y-axis coordinate compensation value is: Y compensation = X1 + K = Lmove2 × [(D1-B1) / (C1-A1)] + K; The original calculated marking coordinates for Product 2 were (A2+Lmove2,B2). The actual marking coordinates for product 2 are (A2 + Lmove2, B2 + Y compensation), and the marking time is T (marking). Lmove2 = (T_mark - T2) × V, where V is the speed of synchronous belt 21.

[0052] Furthermore, in the subsequent product marking coordinate calculation, the Y-axis coordinate compensation value is continuously detected and calculated, and the marking Y-axis coordinate compensation of subsequent products is continuously performed to correct the marking deviation caused by the synchronous belt oscillation in real time, thereby improving the marking accuracy.

[0053] The vision inspection and positioning module 50 is installed downstream of the laser marking machine 40. It includes a second industrial camera and a second vision processing unit. The second industrial camera is used to capture images of the marked product and acquire the product's inspection coordinate information and marking quality information. The images captured by the industrial camera contain at least two complete product images, which can effectively prevent missed inspections and provide sufficient data for Y-axis coordinate calibration and compensation calculations.

[0054] The second vision processing unit analyzes the acquired images, using the same judgment criteria as static detection to determine whether the integrity and precision of the characters and patterns in the marking area meet the requirements, thereby determining whether the marking quality is qualified. The judgment result is then sent to the main control and data processing system 90.

[0055] The defective product rejection mechanism 60 is used to reject products with defective markings according to the instructions of the main control and data processing system 90.

[0056] like Figures 8 to 10 In the third embodiment shown, the product support belt 22 has a longitudinal groove array structure, and the defective product rejection mechanism 60 can adopt the air blowing rejection method. The air blowing module 61 is installed on one side of the synchronous belt 21, and the defective product storage box is set on the opposite side of the corresponding synchronous belt 21 and the corresponding air blowing module 61, so that the jet airflow of the air blowing module 61 blows the product directly into the defective product storage box 62.

[0057] like Figures 2 to 5 In the first embodiment shown, the product support belt 22 has a single or multiple transverse groove structure. The defective product rejection mechanism 60 adopts a rotating arm gripping rejection method. The rotating arm gripping rejection method is similar to the rotating arm structure and principle of the feeding mechanism 10. The rotating arm grips the defective products through a suction cup and transfers them to the defective product storage box 62 to ensure that the defective products are effectively rejected.

[0058] The feeding mechanism 70 can feed the marked qualified products in various ways, such as using a robot or a conveyor belt. In all embodiments of the present invention, the product storage box 71 located at the bottom of the end of the synchronous belt 21 in the conveying direction is used to directly collect the marked qualified products. To avoid product accumulation, an anti-jamming mechanism 72 is also provided at the end of the synchronous belt 21. The anti-jamming mechanism 72 prevents the material from accumulating and getting stuck in the gap between the synchronous belt 21 and the product storage box 71.

[0059] The main control and data processing system 90 is the core control unit of the flying laser marking system of this invention. It is responsible for receiving signals from modules such as the marking vision positioning module 30, the laser marking machine 40, the vision inspection and positioning module 50, the defective product rejection mechanism 60, and the sensing module 80. It also fuses and calculates the received data, sends control commands, and coordinates the orderly operation of each module. The main control and data processing system 90 includes a marking control unit, which has a marking information queue unit. This unit uses a first-in, first-out (FIFO) storage method to store information such as the marking trigger time and marking coordinates of the product, ensuring that marking tasks are executed sequentially.

[0060] The main control and data processing system 90 incorporates a coordinate compensation algorithm, which calculates the compensation value in the Y-axis direction of the product based on the detection data from the marking vision positioning module 30 and the vision inspection and positioning module 50. This effectively corrects marking deviations caused by the oscillation of the synchronous belt 21, improving marking accuracy. Simultaneously, the main control and data processing system 90 also features a data recording function, capable of recording information such as marking time, marking coordinates, compensation value, quality inspection results, and rejection status for each product, achieving full-process traceability of product quality.

[0061] This invention also discloses a flying laser marking method based on the above-mentioned flying laser marking system, which includes the following steps: S1. Feeding Control: The core of the feeding control step is to accurately and orderly transport the products onto the moving product support belt. Different feeding methods are used depending on the structure of the product support belt. When the product support belt has a longitudinal groove array structure, a rotating arm 13 with suction cups 15 at both ends is used as the feeding execution mechanism. The light reflection sensor 81 continuously detects the falling edge of the groove 23. The main control and data processing system 90 calculates the time to trigger the product placement as Ti+t period based on the detected falling edge time Ti, where t period is the time for the synchronous belt 21 to move one groove 23 spacing, i=1, 2, 3... After the product is in place on the rotating arm, the main control and data processing system 90 waits for the first falling edge time Tn detected by the light reflection sensor 81 and determines the actual trigger placement time as Tn+t period to ensure that the product can accurately fall into the groove 23.

[0062] When the product support belt has a single or multiple transverse groove structure, the feeding mechanism adopts a transverse vibration mechanism to directly transfer the product into the transverse groove on the synchronous belt, eliminating the need for complex pick-and-place control and simplifying the feeding process.

[0063] S2. Pre-marking visual positioning: The purpose of using the marking visual positioning module 30 to perform pre-marking visual positioning of the product is to obtain precise position information of the product in motion, providing data support for the calculation of marking trigger time and marking coordinates. Specifically, this includes: First, when a product passes through the inspection area, the first industrial camera is triggered to take a picture or take a timed picture under the control of the main control and data processing system 90. The picture taking cycle is matched with the movement speed of the synchronous belt 21 to ensure that each product is photographed at least once.

[0064] Then, the first vision processing unit processes the acquired image and calculates the product's current precise coordinates (X1, Y1, θ1) using techniques such as template matching and Blob analysis, where θ1 is the rotation angle. At the same time, the encoder 82 acquires the X-direction coordinate information of the synchronous belt 21 in real time and sends both to the main control and data processing system.

[0065] Finally, the main control and data processing system integrates the product positioning coordinates, the synchronous belt position information, and the effective marking area information of the laser marking machine to determine whether the product's center coordinates fall within the marking center area. If the product's center coordinates are within the marking center area, the marking trigger time and marking coordinates are calculated. The marking trigger time = T1 + delay time, where T1 is the image capture time of the vision inspection and positioning module, and the delay time is calculated based on the synchronous belt speed and the distance from the product to the marking position. The calculated marking trigger time and marking coordinates are stored in the marking information queue, which uses a first-in-first-out (FIFO) storage method. When the marking tasks in the queue reach their trigger time, they are popped out of the queue and executed sequentially.

[0066] S3. Laser Marking: When the marking task in the marking information queue reaches the preset marking trigger time, the main control and data processing system sends a marking instruction to the laser marking machine. The galvanometer component of the laser marking machine adjusts the deflection angle in real time according to the received marking coordinates and rotation angle information to ensure that the laser beam accurately acts on the target marking position of the product. At the same time, the laser marking machine emits a laser to mark the product, completing the marking action.

[0067] During the marking process, the main control and data processing system continuously receives the synchronous belt position information sent by the encoder and adjusts the marking parameters in real time to ensure that the marking process is synchronized with the product's movement state and to avoid marking deviation caused by product movement.

[0068] S4. Y-axis coordinate calibration and compensation: Due to errors in the machining or installation accuracy of the rollers in the synchronous belt horizontal motion drive mechanism, the synchronous belt will experience slight back-and-forth oscillation during rotation, causing a positional deviation of the product in the Y-axis direction, affecting marking accuracy. The Y-axis coordinate calibration and compensation step corrects this deviation by calculating a compensation value, specifically including: First, the vision inspection and positioning module captures the positioning coordinates (A1, B1) of product 1 and records the capture time as T1. The main control and data processing system calculates Lmove1 = (Tmarking1 - T1) × V synchronous belt speed based on the marking time Tmarking1 and the synchronous belt speed V synchronous belt speed of product 1, and determines the marking coordinates of product 1 by the laser marking machine as (A1 + Lmove1, B1).

[0069] Then, the visual inspection and positioning module captures the positioning coordinates (C1, D1) of product 1 to obtain the actual position information of product 1 after marking.

[0070] Next, the vision inspection and positioning module captures the positioning coordinates (A2, B2) of product 2 and records the capture time as T2. The main control and data processing system calculates Lmove2 = (Tmarking2 - T2) × V synchronous belt speed to determine the initial marking coordinates of product 2 by the laser marking machine as (A2 + Lmove2, B2), where Tmarking2 is the marking time of product 2.

[0071] Next, an approximate triangular model is used to calculate X1 = Lmove2 × [(D1-B1) / (C1-A1)], where X1 is the estimated deviation value in the Y-axis direction. Considering various error factors during equipment operation, a correction amount K is set. The correction amount K can be dynamically adjusted according to the equipment operating status, ambient temperature, and wear degree of the synchronous belt. The adjustment cycle is the preset equipment maintenance cycle or a calibration is performed after each preset number of products are produced. Finally, the Y-axis coordinate compensation value = X1 + K is calculated.

[0072] Finally, the initial marking coordinates of product 2 are corrected to (A2+Lmove2,B2+Y compensation). In the marking coordinate calculation of subsequent products, the Y-axis coordinate compensation value is continuously detected and calculated, and the marking Y-axis coordinate compensation of subsequent products is continuously performed to correct the marking deviation caused by the synchronous belt oscillation in real time and improve the marking accuracy.

[0073] S5. Post-marking visual quality inspection: The post-marking visual quality inspection step is used to determine the marking quality of the product and to provide data for Y-axis coordinate calibration compensation calculation; specifically including: First, when the product passes through the detection area of ​​the vision inspection and positioning module 50 after being marked, the second industrial camera is triggered to take a picture or take a picture at a set time. The resolution of the captured image is not lower than the preset threshold to ensure that the characters and patterns in the marked area can be clearly identified with integrity and accuracy.

[0074] Then, the second vision processing unit analyzes the acquired images and uses the same judgment criteria as static detection to determine whether the marking quality is up to standard. If the characters or patterns in the marking area are incomplete, the accuracy does not meet the requirements, or there are other defects, the product is determined to be defective and sent to the main control and data processing system 90.

[0075] S6. Defective Product Removal: The core of the defective product removal process is to remove defective products during the product movement.

[0076] S7. Product unloading: Products that have passed visual inspection and positioning module inspection are unloaded through the unloading mechanism.

[0077] S8. Data Recording: Throughout the marking process, the main control and data processing system continuously records information such as marking time, marking coordinates, compensation value, quality inspection results, and rejection status for each product, forming a product quality traceability file. When it is necessary to query product quality, relevant processing information can be quickly obtained through this file, realizing full-process traceability of product quality and facilitating the investigation and resolution of quality issues.

[0078] The above embodiments and figures are not intended to limit the product form and style of the present invention. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of the present invention.

Claims

1. A flying laser marking system, characterized in that: It includes a feeding mechanism, a conveying mechanism, a marking vision positioning module, a laser marking machine, a vision inspection and positioning module, a defective product rejection mechanism, a feeding mechanism, a sensing module, and a main control and data processing system. The marking vision positioning module, the laser marking machine, the vision inspection and positioning module, the defective product rejection mechanism, and the sensing module are respectively connected to the main control and data processing system. The feeding mechanism is located at the starting end of the conveying mechanism or on one side of the conveying mechanism upstream of the marking vision positioning module, and transfers the product from the feeding mechanism to the conveying mechanism. The conveying mechanism includes a timing belt and a product support belt. The product support belt is installed on the timing belt to carry the products to be passed sequentially through the marking vision positioning module, the laser marking machine, the vision inspection and positioning module, and the defective product rejection mechanism. The sensing module includes a light reflection sensor and an encoder. The encoder is connected to the drive mechanism of the synchronous belt to collect the speed of the synchronous belt and the X-axis coordinate information in real time. The light reflection sensor is installed upstream of the feeding area and / or the defective product rejection area of ​​the product support belt. The marking vision positioning module is located upstream of the laser marking machine and includes a first industrial camera and a first vision processing unit. The first industrial camera is used to capture images of the moving product to be marked and to obtain the positioning coordinates and rotation angle information of the product to be marked. The first industrial camera is connected to the main control and data processing system. The first vision processing unit processes the images captured by the first industrial camera and calculates the current positioning coordinates and rotation angle of the product to be marked. The laser marking machine is used to laser mark the product to be marked according to the instructions of the main control and data processing system. It includes a galvanometer assembly, which is electrically connected to the main control and data processing system. The deflection angle is adjusted in real time according to the positioning coordinates and rotation angle of the product, so that the laser beam can accurately act on the target marking position of the product. The vision inspection and positioning module is located downstream of the laser marking machine to determine whether the marking quality of the product is up to standard; the judgment result is sent to the main control and data processing system. The defective product rejection mechanism is used to reject products that are judged to be defective according to instructions from the main control and data processing system. The feeding mechanism is used to feed qualified marked products. The main control and data processing system calculates the Y-axis compensation value based on the detection data from the vision inspection and positioning module and corrects the marking coordinates of the next product to be marked. The specific steps for Y-axis coordinate calibration and compensation include: S41. The marking visual positioning module captures the positioning coordinates (A1, B1) of product 1 and records the shooting time as T1. The main control and data processing system calculates the compensation distance Lmove1 = (Tmark1-T1) × V based on the marking time Tmark1 of product 1 and the synchronous belt speed V, and determines the marking coordinates of the laser marking machine for product 1 as (A1+Lmove1,B1). S42. The visual inspection and positioning module captures the positioning coordinates (C1, D1) of product 1 to obtain the actual position information of product 1 after marking. S43. The visual inspection and positioning module captures the positioning coordinates (A2, B2) of product 2 and records the capture time as T2. The main control and data processing system calculates the compensation distance Lmove2 = (Tmarking2 - T2) × V, and determines the initial marking coordinates of product 2 by the laser marking machine as (A2 + Lmove2, B2), where Tmarking2 is the marking time of product 2. S44. Calculate X1 = Lmove2 × [(D1-B1) / (C1-A1)] using an approximate triangular model, where X1 is the estimated deviation in the Y-axis direction; S45. Set the correction amount K, and finally calculate the Y-axis coordinate compensation value = X1 + K; S46. Correct the actual marking coordinates of product 2 to (A2+Lmove2,B2+Y compensation).

2. The flying laser marking system as described in claim 1, characterized in that: The upstream of the marking visual positioning module is also provided with an anti-stacking mechanism, which includes an inclined soft brush, which is positioned above the product support belt and corresponds to the product placement position; a product storage box is provided at the bottom of the end of the synchronous belt in the conveying direction, and an anti-jamming mechanism is also provided between the end of the synchronous belt and the product storage box.

3. The flying laser marking system as described in claim 1, characterized in that: The product support belt has a longitudinal groove array structure. The feeding mechanism and the defective product rejection mechanism adopt an air blowing module. The air blowing module is installed on one side of the synchronous belt, and a defective product storage box is set on the opposite side of the synchronous belt from the air blowing module, so that the air blowing module blows the defective products into the defective product storage box through jet air.

4. The flying laser marking system as described in claim 1, characterized in that: The product support belt has a single or multiple transverse groove structure; the defective product rejection mechanism includes a 180-degree rotating arm with suction cups at both ends, and a defective product storage box is provided on one side of the conveying mechanism within the rotation range of the rotating arm.

5. The flying laser marking system as described in claim 1, characterized in that: The feeding mechanism includes a vibratory feeder, a linear vibratory guide rail, and a rotating arm. The linear vibratory guide rail is located at the discharge port of the vibratory feeder and has a groove corresponding to the length, width, or diameter of the product. A rotating cylinder is connected to the middle of the rotating arm, and a suction cup is provided at each of the left and right ends of the rotating arm. One suction cup is located above the guide groove of the linear vibratory guide rail, and the other suction cup corresponds to the conveying mechanism.

6. A method for flight laser marking based on the flight laser marking system according to any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Feeding control: The feeding mechanism transports the product to the moving product support belt. The main control and data processing system controls the feeding time of the feeding mechanism based on the detection signal of the light reflection sensor. S2. Visual positioning before marking: The visual inspection and positioning module captures the product in motion and obtains the product positioning coordinates and rotation angle information. The encoder collects the synchronous belt position information. The main control and data processing system integrates the above information to calculate the marking trigger time and marking coordinates. S3, Laser Marking: When the marking trigger time is reached, the main control and data processing system controls the laser marking machine to adjust the galvanometer deflection angle and perform laser marking on the product; S4, Y-axis coordinate calibration and compensation: Calculate the Y-axis compensation value based on the detection data of the vision inspection and positioning module, and correct the marking coordinates of subsequent products; The specific steps for Y-axis coordinate calibration and compensation include: S41. The marking visual positioning module captures the positioning coordinates (A1, B1) of product 1 and records the shooting time as T1. The main control and data processing system calculates the compensation distance Lmove1 = (Tmark1-T1) × V based on the marking time Tmark1 of product 1 and the synchronous belt speed V, and determines the marking coordinates of the laser marking machine for product 1 as (A1+Lmove1,B1). S42. The visual inspection and positioning module captures the positioning coordinates (C1, D1) of product 1 to obtain the actual position information of product 1 after marking. S43. The visual inspection and positioning module captures the positioning coordinates (A2, B2) of product 2 and records the capture time as T2. The main control and data processing system calculates the compensation distance Lmove2 = (Tmarking2 - T2) × V, and determines the initial marking coordinates of product 2 by the laser marking machine as (A2 + Lmove2, B2), where Tmarking2 is the marking time of product 2. S44. Calculate X1 = Lmove2 × [(D1-B1) / (C1-A1)] using an approximate triangular model, where X1 is the estimated deviation in the Y-axis direction; S45. Set the correction amount K, and finally calculate the Y-axis coordinate compensation value = X1 + K; S46. Correct the actual marking coordinates of product 2 to (A2+Lmove2,B2+Y compensation). S5. Visual quality inspection after marking: The visual inspection and positioning module photographs the marked product and judges the marking quality, and performs coordinate positioning for defective products. S6. Defective Product Rejection: The main control and data processing system calculates and controls the defective product rejection mechanism to reject defective products; S7. Product unloading: Products that have passed visual inspection and positioning module inspection are unloaded through the unloading mechanism.

7. The method for flying laser marking as described in claim 6, characterized in that: In step S1, the feeding mechanism has a rotating arm, a rotating cylinder is connected to the middle of the rotating arm, and a suction cup is provided at each of the left and right ends of the rotating arm. The conveying mechanism has a synchronous belt with multiple product support belts arranged longitudinally at equal intervals. The conveying direction of the synchronous belt is transverse, and a groove is formed between adjacent product support belts. Each groove corresponds to a falling edge and a rising edge. A light reflection sensor is provided on one side of the synchronous belt within the stroke range of the rotating arm. The specific steps of the feeding control are as follows: The light reflection sensor continuously detects the falling edge of the groove. The time to trigger the product placement is Ti+t period, where Ti is the time when the light reflection sensor detects the falling edge, and t period is the time when the synchronous belt moves one groove spacing, i=1, 2, 3...; When the product is in place on the rotating arm, the actual trigger placement time is Tn+t period, where Tn is the time when the light reflection sensor detects the first falling edge after the rotating arm is in place.

8. The method for flying laser marking as described in claim 6, characterized in that: In step S2, the visual positioning before marking specifically includes: S21. When a product passes through the inspection area, the first industrial camera is triggered to take a picture or take a timed picture under the control of the main control and data processing system. The picture taking cycle is matched with the speed of the synchronous belt movement to ensure that each product is photographed at least once. S22. The first vision processing unit processes the image captured by the first industrial camera and calculates the current coordinates (X1, Y1, θ1) of the product, where θ1 is the rotation angle. At the same time, the encoder collects the X-direction coordinate information of the synchronous belt in real time and sends both to the main control and data processing system. S23. The main control and data processing system integrates the product positioning coordinates, the synchronous belt position information, and the effective marking area information of the laser marking machine to determine whether the product center coordinates fall within the marking center area. If the product center coordinates are within the marking center area, the marking trigger time and marking coordinates are calculated. The marking trigger time = T1 + delay time, where T1 is the photo taking time of the vision inspection and positioning module, and the delay time is calculated based on the synchronous belt speed and the distance from the product to the marking position. S24. Store the calculated marking trigger time and marking coordinates into the marking information queue. The marking information queue is stored in a first-in-first-out manner. When the marking tasks in the queue reach the trigger time, they are popped out of the queue in order and executed.

9. The method for flying laser marking as described in claim 6, characterized in that: The effective marking area of ​​a laser marking machine includes a maximum marking area and a marking center area. The coordinates of the maximum marking area are (0-w / 2, 0-h / 2, w, h), and the coordinates of the marking center area are (0-w / 2+r, 0-h / 2+r, w-2r, h-2r), where w is the width of the marking area, h is the height of the marking area, and r is the maximum radius of the product. The main control and data processing system determines whether the product's center coordinates fall within the marking center area; only products within this area will be marked. When the marking task in the marking information queue reaches the preset marking trigger time, the main control and data processing system sends a marking instruction to the laser marking machine. The galvanometer component of the laser marking machine adjusts the deflection angle in real time according to the received marking coordinates and rotation angle information, so that the laser beam accurately acts on the target marking position of the product. At the same time, the laser marking machine emits a laser to mark the product, completing the marking action.

10. The flying laser marking method as described in claim 6, characterized in that: It also includes data recording steps, where the main control and data processing system records the marking time, marking coordinates, compensation value, quality inspection results, and rejection status information for each product, enabling full-process traceability of product quality.

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