Locating device of aluminum coiled material laser coding machine

Abstract

The utility model relates to a locating device of an aluminum coiled material laser coding machine, which comprises a six-axis robot and a bottom plate vertically and fixedly arranged at the tail end of the six-axis robot, the bottom plate is provided with three groups of laser range finders from top to bottom, and the three groups of laser range finders are respectively a first laser range finder, a second laser range finder and a third laser range finder. Wherein the distance between the second laser range finder and the first laser range finder and the distance between the second laser range finder and the third laser range finder are equal, the connecting line of the three sets of laser range finders is perpendicular to the horizontal plane, and a laser transmitter located at the same horizontal position as the second laser range finder is further installed on the bottom plate. According to the utility model, through the components such as the bottom plate at the tail end of the six-axis robot of the laser coding machine, the position can be found according to coiled materials with different coiling diameters and widths, the coding position can be quickly found, the production efficiency is improved, and the laser coding machine is well applied on site.

Description

Technical field:

[0002] The utility model relates to a positioning device for an aluminum coil laser coding machine. Background technology:

[0004] During the production of aluminum cold rolling mill, the coil diameter and width of different aluminum coils are different. In order to facilitate the tracking of coil information, laser coding is required on the surface of the aluminum coil. In order to facilitate manual viewing and scanning by scanning equipment, the coding position is generally required to be located at a fixed position on the circumference of the aluminum coil. In addition, the distance between the laser transmitter and the surface of the aluminum coil is required to be fixed during laser coding so that the coding is clear. Therefore, when the aluminum coil is transported to the coding machine, the coding machine needs to quickly locate and find the coding position for coding. If the positioning is wrong or too slow, the coding time will be extended, and ultimately the production efficiency will be reduced. At present, there is no coding machine positioning device.

[0005] At present, a Chinese patent "A laser positioning device and a robot welding positioning system for robot welding positioning" (Announcement No. CN108971840A) has been retrieved, which includes a welding robot body, a laser positioning component, a connecting component, a welding gun and a robot control system; the connecting component is rotatably connected to the welding robot body, and the laser positioning component and the welding gun are respectively installed on the connecting component; the robot control system is respectively communicated with the welding robot body and the laser positioning component, the laser positioning component is used to detect the position information of the workpiece, and transmit the detected position information of the workpiece to the robot control system, and the robot control system sends an action instruction to the welding robot body according to the received position information of the workpiece. The robot welding positioning system has the above-mentioned laser positioning device for robot welding positioning, has high workpiece recognition efficiency and can avoid damage to the workpiece due to touch; but it cannot achieve fast and efficient positioning of the coding machine. Summary of the invention:

[0007] In view of this, the purpose of the utility model is to provide a positioning device for an aluminum coil laser coding machine, which is conducive to conveniently and quickly realizing accurate positioning of the coding position.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A positioning device for an aluminum coil laser coder, characterized in that it comprises a six-axis robot and a base plate vertically fixed on the end of the six-axis robot, the base plate being provided with three groups of laser rangefinders from top to bottom, namely a first laser rangefinder, a second laser rangefinder and a third laser rangefinder, wherein the second laser rangefinder is at an equal distance from the first laser rangefinder and the third laser rangefinder, the connecting line of the three groups of laser rangefinders is perpendicular to the horizontal plane, and a laser emitter is also installed on the base plate at the same horizontal position as the second laser rangefinder.

[0010] Preferably, a horizontal guide rail is provided on the base plate, and the second laser rangefinder is slidably mounted on the horizontal guide rail and can be fixed.

[0011] Preferably, the distance between the second laser rangefinder and the laser emitter is 100 mm.

[0012] Preferably, the distance between the laser emitter and the aluminum coil is 300 mm.

[0013] The utility model uses the aluminum coil laser coding machine positioning device to perform positioning method, which specifically includes the following steps:

[0014] Step S1: After the aluminum coil is produced, it is transported to the position in front of the laser coding machine;

[0015] Step S2: The six-axis robot of the laser coding machine drives the center point of the base plate to the coordinate position (0,0,2600).

[0016] Step S3: The six-axis robot drives the bottom plate to move vertically from top to bottom until the distance L1 measured by the first laser rangefinder is equal to the distance L3 measured by the third laser rangefinder, and then stops moving downward, and the Z-axis coordinate positioning is completed;

[0017] Step S4: The six-axis robot drives the bottom plate to move toward the aluminum coil until the distance L2 measured by the second laser rangefinder is 300 mm, then stops moving forward, and the Y-axis coordinate positioning is completed;

[0018] Step S5: The six-axis robot drives the bottom plate to move to the right side of the aluminum coil. When the distance L2 measured by the second laser rangefinder is greater than 305 mm, it stops moving rightward, and the X-axis coordinate positioning is completed. At this time, the coordinates of the laser transmitter are the coordinates of the coding position.

[0019] Step S6: The laser transmitter starts to code the surface of the aluminum coil;

[0020] Step S7: After the coding is completed, the six-axis robot drives the base plate back to the origin, and the coding is completed.

[0021] The utility model can locate the position according to the coils with different coil diameters and widths by using the bottom plate and other components at the end of the six-axis robot of the laser coding machine, so as to quickly find the coding position and improve the production efficiency. Description of the drawings:

[0023] Figure 1 It is a schematic diagram of the coding position and three-dimensional coordinates;

[0024] Figure 2 It is a front view of the base plate and the components thereon;

[0025] Figure 3 This is a schematic diagram of Y coordinate and Z coordinate positioning;

[0026] Figure 4 This is a schematic diagram of X coordinate location;

[0027] Figure 5 It is a schematic diagram of the structure of the utility model. Specific implementation method:

[0029] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0030] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as commonly understood by ordinary technicians in the technical field to which the present application belongs.

[0031] The utility model takes the implementation on a 1850mm aluminum cold rolling mill as an example. The aluminum coils produced by the aluminum cold rolling mill have a diameter range of 1000-2600mm and a width range of 900-1700mm. It is required that after production, laser coding should be performed at a position 100mm from the right edge of the strip in the middle of the cylindrical surface of the aluminum coil. The mechanism used to move the laser transmitter in this application is a six-axis robot, each axis of which is equipped with a positioning sensor, which can automatically calculate the three-dimensional spatial coordinates (X, Y, Z) of the center point of the bottom plate at the end of the sixth axis. The X axis is the horizontal direction, the Y axis is the front-to-back direction, and the Z axis is the height direction. The specific position is as follows Figure 1 shown.

[0032] Since the width and diameter of the aluminum coil produced are not fixed, the three-dimensional coordinates of the coding position are also not fixed. The front view of the positioning device of the utility model is as follows: Figure 2As shown in the figure, 1 is a base plate, 2 is a fixing bolt, and the base plate is fixedly connected to the end of the sixth axis of the six-axis robot A through the bolt 2, so that the base plate moves with the six-axis robot, that is, the coordinates of the fixing bolts between the base plate and the end of the sixth axis of the six-axis robot (or set to the center of the base plate) are the same as the coordinates of the end position of the sixth axis of the six-axis robot; 3 is a horizontal guide rail for installing the second laser rangefinder, 4 is a second laser rangefinder installed on the horizontal guide rail, and the second laser rangefinder can be slid and installed and fixed at any position on the horizontal guide rail; 5 is a laser transmitter for coding, and the second laser rangefinder and the laser transmitter are installed on the same horizontal line. This embodiment requires that the coding position is located at the 100mm position of the aluminum curling part, so the horizontal distance between the rangefinder 4 and the laser transmitter is adjusted to 100mm and then fixed; 6 is a first laser rangefinder, and 7 is a third group of laser rangefinders. The distance from the first laser rangefinder to the second laser rangefinder is the same as the distance from the third laser rangefinder to the second laser rangefinder.

[0033] To achieve positioning, the six-axis robot needs to find the three-dimensional coordinates of the coding position according to the position of the aluminum coil. The Y-axis and Z-axis coordinate positioning methods are as follows: Figure 3 As shown, Figure 10 is a side view of the aluminum coil, L1 is the distance to the surface of the aluminum coil measured by the first laser rangefinder, L2 is the distance to the surface of the aluminum coil measured by the second laser rangefinder, and L3 is the distance to the surface of the aluminum coil measured by the third group of laser rangefinders. When finding the position, the robot first moves the end of the sixth axis (or the center point of the bottom plate) to the coordinate (0,0,2600) position, that is, the position above the center of the aluminum coil, and then drives the bottom plate to move vertically from top to bottom. When the distance L1=L3 is detected, the Z-axis coordinate z1 at this time is the Z-axis coordinate of the coding position. When the laser coding machine is coding, the distance between the laser emitter and the surface of the aluminum coil will affect the coding effect. This embodiment requires that the distance between the laser emitter and the surface of the aluminum coil is 300mm when coding. Therefore, after finding the Z-axis coordinate, the six-axis robot will drive the bottom plate to move in the Y-axis direction. When the distance L2 detected by the second laser rangefinder is 300mm, the Y-axis coordinate y1 at this time is the Y-axis coordinate of the coding position.

[0034] This embodiment requires that the coding position is located 100mm away from the right side of the aluminum coil, so the X-axis coordinate needs to be located. The specific method is as follows: Figure 4As shown, Figure 20 is a front view of the aluminum coil. When the positioning starts, the positioning device is located at H, that is, the coordinate point (0, y1, z1). At this time, the distance L2 measured by the second laser rangefinder is 300mm. The robot drives the base plate and the components thereon to move horizontally to the right. When the L2 value is greater than 305mm (to avoid fluctuations in the rangefinder value, the setting range is 305mm), the position at this time is located at H1. Since the distance between the laser emitter 5 and the second laser rangefinder 4 is 100mm, the distance between the position of the laser emitter 5 and the right side of the coil is 100mm. The X-axis coordinate x1 at this time is the X-axis coordinate of the coding position, and the coordinate of the sixth axis of the six-axis robot (x1, y1, z1) is the three-dimensional coordinate of the coding position.

[0035] In order to achieve fast positioning, the following control method is adopted, which specifically includes the following steps:

[0036] Step S1: After the aluminum coil is produced, it is transported to the position in front of the laser coding machine;

[0037] Step S2: The six-axis robot of the laser coding machine drives the center point of the base plate to the coordinate position (0,0,2600).

[0038] Step S3: The six-axis robot drives the bottom plate to move vertically from top to bottom until the distance L1 measured by the first laser rangefinder is equal to the distance L3 measured by the third laser rangefinder, and then stops moving downward, and the Z-axis coordinate positioning is completed;

[0039] Step S4: The six-axis robot drives the bottom plate to move toward the aluminum coil until the distance L2 measured by the second laser rangefinder is 300 mm, then stops moving forward, and the Y-axis coordinate positioning is completed;

[0040] Step S5: The six-axis robot drives the bottom plate to move to the right side of the aluminum coil. When the distance L2 measured by the second laser rangefinder is greater than 305 mm, it stops moving rightward, and the X-axis coordinate positioning is completed. At this time, the coordinates of the laser transmitter are the coordinates of the coding position.

[0041] Step S6: The laser transmitter starts to code the surface of the aluminum coil;

[0042] Step S7: After the coding is completed, the six-axis robot drives the base plate back to the origin, and the coding is completed.

[0043] The utility model can locate the position according to the coils with different coil diameters and widths by using the bottom plate at the end of the six-axis robot of the laser coding machine, quickly find the coding position, improve production efficiency, and be well applied on site.

[0044] The preferred embodiments listed above further illustrate the purpose, technical solutions and advantages of the utility model in detail. It should be understood that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A positioning device for an aluminum coil laser coder, characterized in that: The invention comprises a six-axis robot and a base plate vertically fixed on the end of the six-axis robot, wherein the base plate is provided with three groups of laser rangefinders from top to bottom, namely a first laser rangefinder, a second laser rangefinder and a third laser rangefinder, wherein the second laser rangefinder is at the same distance as the first laser rangefinder and the third laser rangefinder, and the connecting line of the three groups of laser rangefinders is perpendicular to the horizontal plane, and a laser emitter is also installed on the base plate and is at the same horizontal position as the second laser rangefinder.

2. The positioning device for the aluminum coil laser coding machine according to claim 1 is characterized in that: The bottom plate is provided with a horizontal guide rail, and the second laser rangefinder is slidably mounted on the horizontal guide rail and can be fixed.

3. The positioning device of the aluminum coil laser coding machine according to claim 1 is characterized in that: The distance between the second laser rangefinder and the laser transmitter is 100 mm.

4. The positioning device for the aluminum coil laser coding machine according to claim 1 is characterized in that: The base plate is fixedly connected to the end of the six-axis robot by means of bolts.

5. The positioning device for the aluminum coil laser coding machine according to claim 1 is characterized in that: The distance between the laser transmitter and the aluminum coil is 300 mm.

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