Laser marking system with space ranging and positioning

Abstract

The utility model discloses a laser marking system with space ranging positioning, which comprises a marking assembly and a six-axis mechanical arm, the six-axis mechanical arm is provided with a mechanical arm tail end, and the marking assembly is mounted at the mechanical arm tail end. The marking assembly comprises a laser galvanometer used for marking the side face of the air conditioner outdoor unit on the conveying line assembly, a laser displacement sensor used for detecting the side face of the air conditioner outdoor unit and a camera used for shooting the side face of the air conditioner outdoor unit. The control system is in control connection with the six-axis mechanical arm and the laser galvanometer, the control system is electrically connected with the laser displacement sensors, the control system comprises a visual identification module, the visual identification module is electrically connected with the camera, the number of the laser displacement sensors is two, the two laser displacement sensors are distributed in the front-back direction, and the visual identification module is electrically connected with the camera. The laser galvanometer is located between the two laser displacement sensors in the front-back direction, and the laser marking system is beneficial to flexible marking and improvement of working efficiency.

Description

Technical Field

[0001] The utility model relates to the field of marking equipment for the outdoor unit of an air conditioner, and particularly relates to a laser marking system with spatial ranging and positioning. Background Art

[0002] At present, in the production process of the outdoor unit of an air conditioner, it is necessary to perform an identification process on the shell of the outdoor unit of the air conditioner, that is, to record graphic and text information such as the name of the manufacturer, the model and specifications of the outdoor unit of the air conditioner on the shell of the outdoor unit of the air conditioner; at present, the outdoor unit of the air conditioner is conveyed by a conveyor line. When the outdoor unit of the air conditioner is moved to the marking station, the stopping device of the conveyor line temporarily intercepts the outdoor unit of the air conditioner, and then the worker can rivet and install a nameplate or perform screen printing on the side of the outdoor unit of the air conditioner. However, the above-mentioned identification method is not flexible enough, and manual operation results in low work efficiency, so it is necessary to make improvements. Summary of the Invention

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a laser marking system with spatial ranging and positioning, which is beneficial to flexible marking and improving work efficiency.

[0004] The purpose of the utility model is realized by the following technical solutions.

[0005] The laser marking system with spatial ranging and positioning disclosed by the utility model includes a marking component and a six-axis robotic arm. The six-axis robotic arm is provided with a mechanical arm end, and the marking component is installed at the mechanical arm end. The marking component includes a laser galvanometer for marking the side of the outdoor unit of the air conditioner on the conveyor line component, a laser displacement sensor for detecting the side of the outdoor unit of the air conditioner, and a camera for photographing the side of the outdoor unit of the air conditioner; it also includes a control system. The control system is control-connected to the six-axis robotic arm and the laser galvanometer, the control system is electrically connected to the laser displacement sensor, the control system includes a visual recognition module, the visual recognition module is electrically connected to the camera, the number of the laser displacement sensors is set to two, the two laser displacement sensors are arranged in the front-back direction, and the laser galvanometer is located between the two laser displacement sensors in the front-back direction.

[0006] Preferably, the marking component further includes a light source for illuminating the side of the outdoor unit of the air conditioner.

[0007] Preferably, the light source is set as an annular light source, and the camera is arranged inside the light source.

[0008] Preferably, the laser galvanometer is located below the camera and the laser displacement sensor.

[0009] Preferably, the marking assembly further includes a bracket, which is installed and connected to the end of the robotic arm. Travel switches are respectively arranged on the left and right sides of the front end of the bracket, and the control system is electrically connected to the travel switches.

[0010] Preferably, the laser marking system of the present invention further includes a pressing and stabilizing mechanism, which includes an arm, a support plate, a compression spring, a linear module, and a pressing plate for pressing on the top of the air conditioner outdoor unit. The linear module is erected, the front end of the linear module is drivingly connected to the arm, the support plate is installed at the rear of the arm, the pressing plate is slidably connected to the corresponding support plate up and down, the pressing plate is arranged below the support plate, and the compression spring is arranged between the pressing plate and the support plate.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The marking assembly is arranged at the end of the robotic arm. The marking assembly includes a laser galvanometer for marking on the side of the air conditioner outdoor unit on the conveyor line assembly, a laser displacement sensor for detecting the side of the air conditioner outdoor unit, and a camera for photographing the side of the air conditioner outdoor unit. The control system is controlled and connected to the six-axis robotic arm and the laser galvanometer. The control system is electrically connected to the laser displacement sensor. The control system includes a visual recognition module, and the visual recognition module is electrically connected to the camera. The number of laser displacement sensors is set to two, and the two laser displacement sensors are arranged in the front-back direction. The laser galvanometer is located between the two laser displacement sensors in the front-back direction, making the laser marking system of the present invention beneficial for flexible marking and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a three-dimensional structure schematic diagram of the laser marking system of the present invention.

[0013] Figure 2 is a three-dimensional partial structure schematic diagram of the combination of the six-axis robotic arm and the marking assembly of the present invention.

[0014] Figure 3 is a three-dimensional structure schematic diagram of the marking assembly of the present invention.

[0015] Figure 4 is a three-dimensional structure schematic diagram of the conveyor line assembly.

[0016] Figure 5 is a three-dimensional structure schematic diagram of the pressing and stabilizing mechanism of the present invention.

[0017] Figure 6 is a sectional structure schematic diagram in the front view direction of the combination of the marking assembly and the air conditioner outdoor unit of the present invention.

[0018] Label description: Marking component 1; Bracket 10; Laser galvanometer 11; Laser displacement sensor 12; Camera 13; Light source 14; Travel switch 15; Six-axis robotic arm 2; End of robotic arm 21; Conveyor line component 3; Conveyor roller 31; Front stop roller 32; Rear stop roller 33; Side push plate 34; Positioning side plate 35; Pressing and stabilizing mechanism 4; Pressing plate 41; Support arm 42; Support plate 421; Compression spring 43; Linear module 44; Air conditioner outdoor unit 99. Specific implementation mode

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] The laser marking system with spatial ranging and positioning of the present invention, as Figure 1 and Figure 2 shown, includes a marking component 1 and a six-axis robotic arm 2. The six-axis robotic arm 2 is provided with an end of the robotic arm 21. The six-axis robotic arm 2 belongs to the prior art. For example, reference can be made to the Chinese utility model patent with the publication number CN212946444U, "Six-axis robotic arm screw locking machine". The marking component 1 is installed at the end of the robotic arm 21, as Figure 3 shown. The marking component 1 includes a laser galvanometer 11 for marking the side of the air conditioner outdoor unit 99 on the conveyor line component 3, a laser displacement sensor 12 for detecting the side of the air conditioner outdoor unit 99, and a camera 13 for photographing the side of the air conditioner outdoor unit 99. In other words, the laser galvanometer 11, the laser displacement sensor 12, and the camera 13 are arranged in the same direction. The laser galvanometer 11 belongs to the prior art. For example, reference can be made to the Chinese utility model patent with the publication number CN216441854U, "A laser galvanometer anti-shake device", and the Chinese utility model patent with the publication number CN208721890U, "Laser scanning galvanometer". The laser displacement sensor 12 is a product of the prior art. For example, the HG-C1200 type laser displacement sensor of Panasonic Electric Works can be selected.

[0021] The laser marking system with spatial ranging and positioning of the present invention further includes a control system. The control system is control-connected to the six-axis robotic arm 2 and the laser galvanometer 11. The control system is electrically connected to the laser displacement sensor 12. The control system includes a visual recognition module, and the visual recognition module is electrically connected to the camera 13. The visual recognition module belongs to the prior art. For example, reference can be made to the Chinese invention patent with the publication number CN109389341B, "An unmanned vending convenience store machine vision recognition system", the Chinese invention patent with the publication number CN114066848B, "An FPCA appearance defect vision detection system", and the Chinese invention patent with the publication number CN113189004B, "An on-line vision recognition detection device". As Figure 3As shown, the number of laser displacement sensors 12 is set to two, and the two laser displacement sensors 12 are arranged in the front-back direction, with the laser galvanometer 11 located between the two laser displacement sensors 12 in the front-back direction. Specifically, the six-axis robotic arm 2 drives the marking assembly 1 to move approximately in a translational manner, so that the front and rear laser displacement sensors 12 always maintain their relative positions in the front and back directions.

[0022] The working principle of the laser marking system of the present utility model will be briefly described below: As Figure 1 shown, the outdoor unit 99 of the air conditioner runs on the conveyor line assembly 3. Specifically, as Figure 4 shown, the conveyor line assembly 3 includes conveyor rollers 31, which are arranged at intervals in the left-right direction. The conveyor motor of the conveyor line assembly 3 drives the conveyor rollers 31 to rotate through a chain. The conveyor line assembly 3 is also provided with a front stop roller 32 and a rear stop roller 33, which are respectively located between the corresponding adjacent conveyor rollers 31. The front stop roller 32 and the rear stop roller 33 are respectively driven to lift by corresponding air cylinders. A positioning side plate 35 is also provided at the rear side of the conveyor line assembly 3, and a side push plate 34 for pushing the outdoor unit 99 of the air conditioner backward to the positioning side plate 35 is provided at the front side of the conveyor line assembly 3; as Figure 1 shown, when the outdoor unit 99 of the air conditioner is conveyed from right to left to the marking station, the left end of the outdoor unit 99 of the air conditioner triggers the longitudinal in-place detection opposed photoelectric eye of the conveyor line assembly 3. The control system correspondingly controls the front stop roller 32 to lift upward to intercept the outdoor unit 99 of the air conditioner in the front in the conveying direction according to the on signal of the above longitudinal in-place detection opposed photoelectric eye, and the rear stop roller 33 also rises to intercept the outdoor unit 99 of the air conditioner in the rear in the conveying direction. Then the control system controls the side push plate 34 to push the outdoor unit 99 of the air conditioner at the marking station backward to the positioning side plate 35, and the rear end of the outdoor unit 99 of the air conditioner triggers the lateral in-place detection reflective photoelectric eye of the conveyor line assembly 3, so that each outdoor unit 99 on the conveyor line assembly 3 can be parked at the same marking station position; the control system senses that the outdoor unit 99 of the air conditioner is well positioned according to the above lateral in-place detection reflective photoelectric eye, so the control system controls the six-axis robotic arm 2 to drive the marking assembly 1 to move forward to the left side of the outdoor unit 99 of the air conditioner. The two laser displacement sensors 12 monitor the distance from the laser displacement sensors 12 to the left side surface of the outdoor unit 99 of the air conditioner. Then the control system controls the six-axis robotic arm 2 to drive the marking assembly 1 to move rightward (or leftward) so that the distance from the laser displacement sensors 12 to the left side surface of the outdoor unit 99 of the air conditioner is a preset value, as Figure 6As shown, the control system then controls the six-axis robot 2 to stop moving the marking component 1 to the right (or left) according to the signal of the laser displacement sensor 12, that is, it plays the role of spatial ranging and positioning. Then the control system controls the camera 13 to shoot the left side of the air-conditioning outdoor unit 99. The visual recognition module compares the current photo taken with the reference photo of the visual recognition module, and the difference between the current coordinates of the lens of the laser galvanometer 11 and the target coordinates can be obtained. Then the control system controls the six-axis robot 2 to drive the marking component 1 to move in a vertical plane parallel to the left side of the air-conditioning outdoor unit 99 according to the above difference, so that the lens of the laser galvanometer 11 moves to the target position. For example, a plurality of grooves can be stamped on the left side surface of the air-conditioning outdoor unit 99, and the visual recognition module can use the above grooves as a reference object for the marking position, and then the control system controls the laser galvanometer 11 to emit a scanning laser beam to the left side surface of the air-conditioning outdoor unit 99, thereby engraving graphic information on the left side surface of the air-conditioning outdoor unit 99. After the laser marking is completed, the control system controls the marking component 1 to move backward and reset, that is, the marking component 1 leaves the forward conveying route of the air-conditioning outdoor unit 99 to prevent the air-conditioning outdoor unit 99 from colliding with the marking component 1, and then the control system controls the front stop roller 32 and the rear stop roller 33 to descend, so that the conveying roller 31 can continue to convey the air-conditioning outdoor unit 99 to the left. As can be seen from the above, the utility model uses the laser galvanometer 11 for marking, so the marking content can be flexibly set in the control system, and the six-axis robot 2 can be controlled to flexibly change the marking position according to actual conditions, and the laser marking does not affect the flatness of the outer shell of the air-conditioning outdoor unit 99, avoiding the use of rivets to install the nameplate and causing local deformation of the outer shell of the air-conditioning outdoor unit 99, and also avoiding water leakage at the rivet installation position; compared with screen printing, the utility model uses laser marking to avoid the need to make a variety of screen printing plates, and the laser marking text is not easy to wear out compared to screen printing, and the laser marking system of the utility model uses a six-axis robot 2 to replace human hands, so the laser marking system of the utility model is conducive to flexible marking, and is conducive to improving work efficiency and reducing the labor intensity of workers.

[0023] Since the two laser displacement sensors 12 are distributed in the front-to-back direction, when the difference between the measured values ​​of the two laser displacement sensors 12 exceeds the set value, the control system determines that the left side of the air-conditioning outdoor unit 99 forms a large inclination angle with the front-to-back direction. In order to avoid the situation where the image and text marked by the laser galvanometer 11 appear shallow on one side and deep on the other side in the front-to-back direction, the control system can control the six-axis robot 2 to swing the marking component 1 around the vertical axis by a corresponding angle according to the actual measured value of the laser displacement sensor 12, so that the central axis of the lens of the laser galvanometer 11 swings slightly to be perpendicular to the left side of the air-conditioning outdoor unit 99, that is, the measured values ​​of the front and rear laser displacement sensors 12 are consistent, and then the left side of the air-conditioning outdoor unit 99 is photographed. Then, in the process of moving the laser galvanometer 11 to the marking position, the control system moves the laser galvanometer 11 in a vertical plane parallel to the left side of the air-conditioning outdoor unit 99 according to the signals of the two laser displacement sensors 12; it should be noted that the detection light beam emitted by the laser displacement sensor 12 avoids the above-mentioned groove on the left side of the air-conditioning outdoor unit 99. Since the bottom of the air-conditioning outdoor unit 99 is supported by the conveying roller 31, the vertical accuracy of the left side of the air-conditioning outdoor unit 99 is relatively easy to ensure. In other words, it is not easy to have a situation where the marking image is light on the top and dark on the bottom or dark on the top and light on the bottom.

[0024] Furthermore, if Figure 3 As shown, the marking component 1 also includes a light source 14 for illuminating the side of the air-conditioning outdoor unit 99. The light source 14 can be an LED light source. The left side of the air-conditioning outdoor unit 99 is illuminated by the light source 14, and the camera 13 can take a clearer picture of the left side of the air-conditioning outdoor unit 99, which is more conducive to the accurate operation of the visual recognition module and avoids the need to set up high-power lamps in the workshop, which is beneficial to energy saving.

[0025] Furthermore, if Figure 3 As shown, the light source 14 is set as a ring light source, and the camera 13 is set on the inner side of the light source 14, which is beneficial for uniformly illuminating the shooting area of ​​the camera 13 in all directions, improving the shooting quality, and facilitating the accurate operation of the visual recognition module.

[0026] Furthermore, if Figure 3 As shown, the laser galvanometer 11 is located below the camera 13 and the laser displacement sensor 12. As mentioned above, the marking component 1 roughly maintains translation during the entire work process, so the upper and lower positions of the marking component 1 remain unchanged. When the laser galvanometer 11 scans the left side of the air-conditioning outdoor unit 99, the dust generated by the laser engraving of the surface of the outer shell of the air-conditioning outdoor unit 99 will float downward due to gravity, thereby preventing the lens of the camera 13 from being easily covered by dust and preventing dust from blocking the part where the laser displacement sensor 12 emits the detection light beam.

[0027] Furthermore, if Figure 3 As shown, the marking assembly 1 also includes a bracket 10, such asFigure 2 As shown, the bracket 10 is installed and connected to the end of the robotic arm 21 by screws. For example, Figure 2 and Figure 3 as shown, travel switches 15 are respectively provided on the left and right sides of the front end of the bracket 10. The control system is electrically connected to the travel switches 15. The swing arms of the travel switches 15 extend forward. For example, Figure 1 as shown, since the air conditioner outdoor unit 99 will be conveyed to the left by the conveyor line assembly 3, and the marking assembly 1 needs to mark on the left side of the air conditioner outdoor unit 99, after each marking is completed, the marking assembly 1 must retreat to the rear of the air conditioner outdoor unit 99 to avoid the air conditioner outdoor unit 99 colliding with the marking assembly 1 and the six-axis robotic arm 2. In other words, each time marking is performed, the marking assembly 1 needs to move forward into the conveying route of the air conditioner outdoor unit 99. Therefore, if the position of the air conditioner outdoor unit 99 on the conveyor line assembly 3 is accidentally incorrect, when the six-axis robotic arm 2 moves the marking assembly 1 forward, the swing arm of the travel switch 15 will touch the rear of the air conditioner outdoor unit 99, so that the swing arm of the travel switch 15 swings backward and triggers the travel switch 15. The control system makes the six-axis robotic arm 2 stop operating immediately according to the signal of the travel switch 15, thereby avoiding the marking assembly 1 and the air conditioner outdoor unit 99 from being damaged by each other.

[0028] Furthermore, as Figure 1 shown, the laser marking system of the present utility model further includes a pressing and stabilizing mechanism 4. As Figure 5 shown, the pressing and stabilizing mechanism 4 includes a support arm 42, a support plate 421, a compression spring 43, a linear module 44 and a pressing plate 41 for pressing on the top of the air conditioner outdoor unit 99. The linear module 44 is a product on the market. The linear module 44 is erected, that is to say, the slider of the linear module 44 moves up and down. The guide rail of the linear module 44 is specifically installed on the rear side of a vertical frame. The linear module 44 is drivingly connected to the front end of the support arm 42. Specifically, the front end of the support arm 42 is installed on the slider of the linear module 44 by screws. The servo motor of the linear module 44 drives the slider of the linear module 44 to move up and down through the ball screw pair of the linear module 44. The support plate 421 is installed on the lower side of the rear part of the support arm 42 by corresponding screws. The pressing plate 41 is slidably connected to the corresponding support plate 421 up and down. For example, guide posts are installed on the upper side of the pressing plate 41. The above guide posts are sleeved with linear bearings. The above linear bearings are installed on the upper side of the support plate 421. The pressing plate 41 is arranged below the support plate 421. The compression spring 43 is arranged between the pressing plate 41 and the support plate 421. And a limit piece is installed at the upper end of the above guide post. The above limit piece is located above the above linear bearing, so as to prevent the pressing plate 41 from falling downward. As Figure 1As shown, when the conveyor line assembly 3 positions the outdoor air conditioner 99, the control system first controls the linear module 44 to lower the support arm 42 to the set position, and then the pressing plate 41 moves down to press on the top of the outdoor air conditioner 99. The compression spring 43 is elastically compressed and deformed to buffer the impact. That is to say, the pressing plate 41 presses on the outdoor air conditioner 99 through the elastic restoring force of the compression spring 43. Then, the control system controls the six-axis robotic arm 2 to move the marking assembly 1 forward. During the marking process, the pressing plate 41 keeps pressing down on the outdoor air conditioner 99 to avoid the phenomenon of shaking at the upper end of the outdoor air conditioner 99, which is beneficial to clear laser marking. When the height dimension specification of the outdoor air conditioner 99 changes, the descending range of the support arm 42 is correspondingly set in the control system.

Claims

1. A laser marking system with spatial ranging and positioning, characterized in that: The invention comprises a marking component (1) and a six-axis robot arm (2), wherein the six-axis robot arm (2) is provided with a robot arm end (21), the marking component (1) is mounted on the robot arm end (21), the marking component (1) comprises a laser galvanometer (11) for marking the side of an air conditioner outdoor unit (99) on a conveyor line component (3), a laser displacement sensor (12) for detecting the side of the air conditioner outdoor unit (99), and a camera (13) for photographing the side of the air conditioner outdoor unit (99); and further comprises a control system, wherein the control system controls and connects the six-axis robot arm (2) and the laser galvanometer (11), the control system is electrically connected to the laser displacement sensor (12), the control system comprises a visual recognition module, the visual recognition module is electrically connected to the camera (13), the number of the laser displacement sensors (12) is set to two, the two laser displacement sensors (12) are distributed in the front-to-back direction, and the laser galvanometer (11) is located between the two laser displacement sensors (12) in the front-to-back direction.

2. The laser marking system with spatial ranging and positioning according to claim 1, characterized in that: The marking assembly (1) further comprises a light source (14) for illuminating the side of the air conditioner outdoor unit (99).

3. The laser marking system with spatial ranging and positioning according to claim 2, characterized in that: The light source (14) is configured as a ring-shaped light source, and the camera (13) is arranged on the inner side of the light source (14).

4. The laser marking system with spatial ranging and positioning according to claim 3 is characterized in that: The laser galvanometer (11) is located below the camera (13) and the laser displacement sensor (12).

5. The laser marking system with spatial ranging and positioning according to claim 1, characterized in that: The marking assembly (1) further comprises a bracket (10), wherein the bracket (10) is mounted and connected to the end of the robot arm (21), and travel switches (15) are respectively provided on the left and right sides of the front end of the bracket (10), and the control system is electrically connected to the travel switches (15).

6. The laser marking system with spatial ranging and positioning according to claim 1, characterized in that: The invention also comprises a stabilizing mechanism (4), wherein the stabilizing mechanism (4) comprises a support arm (42), a support plate (421), a compression spring (43), a linear module (44) and a compression plate (41) for pressing on the top of an air conditioner outdoor unit (99), wherein the linear module (44) is arranged vertically, the linear module (44) is drivingly connected to the front end of the support arm (42), the support plate (421) is installed at the rear of the support arm (42), the compression plate (41) is slidably connected to the corresponding support plate (421) up and down, the compression plate (41) is arranged below the support plate (421), and the compression spring (43) is arranged between the compression plate (41) and the support plate (421).

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