| With the advent of the industry 4.0 era,the domestic manufacturing industry is facing a major transformation and upgrading,and precisely steel manufacturing is the top priority of the national economy and people livelihood.High-quality special steel is a high-tech product in steel materials,which is related to the development and growth of vital fields such as China ocean,aviation and advanced equipment manufacturing.Due to the important position of special steel,it is necessary to realize traceable production in the whole industrial chain.It is necessary to develop a set of automatic marking equipment on the special steel finishing line.The aim is to solve the problems of irregular code,unclearness and low efficiency caused by manual printing.Based on the finishing line of a special steel enterprise,this research group has developed a set of Cartesian coordinate robot system suitable for automatic surface coding of finishing steel bars by visiting and researching the research status at home and abroad.The system has been tested several times in the laboratory,and the results prove that it has the characteristics of high coding efficiency,high coding quality,high degree of automation and low production cost.This paper mainly studies from four aspects: automatic design of finishing line,design of cartesian coordinate robot execution system,design of software and hardware of intelligent control system and optimization of code spraying test of special steel bar.The work and process mainly include: 1)Through the actual visit of leading enterprises in the field of steel identification,combined with the finishing line of a special steel enterprise in hebei province,analyzed the necessity and technical difficulties of its code spraying,and finally established the code spraying scheme and code spraying process based on rectangular coordinate robot and laser rangefinder;2)Combined with the design scheme,the overall modeling is studied by using 3 D design software Sliodworks,including robot ontology,workbench,bracket,and the end executor,then has carried on the finite element analysis and simulation movement,found that can completely meet the design requirements,and then the motor,linear modules,such as printing ink printing machine selection work and parts processing and manufacturing,finally completed the construction of the prototype and installation;3)Based on the preliminary design of printing process,designed a centralized-distributed control scheme,the controller,man-machine interface,sensors,low voltage components selection,according to the servo system and controller as the core of hardware system,completed the entire electrical schematic diagram and thecontrol cabinet,control panel components layout design and drawing,and then completed the connection,and debug the servo system,completed the response of servo system gain,electronic gear ratio and ratio of inertial parameters setting;4)Based on the preliminary design of printing process,complete the automatic control program,mainly includes:MATLAB special steel special steel rod size identification,OPC communications,laser ranging sensor ModBus Rtu-read the procedures and process control,etc.,and then completed the man-machine interface design and compilation of 5)After completion of the overall design,the hundreds of times coding test,and optimize the linear solution,using black thread tube and round belt fixed the intricacies of the cable,determined the best printing speed and ink viscosity parameters,and the recognition rate statistics,after the test found that effect is good,meet the requirements of special steel enterprises. |
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