Key Technology Development Of Automatic Labeling And Code Spraying For Industrial Robots

With the advancement of industry 4.0 and made in China 2025 strategy,automation and intelligence are of great significance for steel enterprises to complete industrial upgrading.In order to realize the automation and intellectualization of the process of labeling and spraying of bundled round steel,it is necessary to establish the robot automatic labeling and spraying system.The robot can effectively improve the safety and efficiency of production and reduce the error rate.In this paper,based on the Anchuan robot,aiming at three key problems: how to select and determine the installation position of the robot,how to accurately identify a single round steel during the labeling process,and how to establish the spraying character library,the following three aspects of research work are carried out through the combination of theoretical analysis and computer simulation.(1)Based on the analysis of robot kinematics,a method of robot selection and installation position determination is proposedThe D-H method is used to model the robot system,and the three-dimensional reachable workspace of the robot is obtained by solving the forward kinematics solution of the robot.Based on the image processing technology,the maximum inscribed circle of a certain section can be solved to realize the robot selection.By solving the inverse kinematics of the robot,the three-dimensional flexible workspace of the robot is obtained,and the installation position of the robot is determined accordingly.(2)Identification of labeling position with yolov3 object detection technologyWith Siemens S7-300 PLC as the core,the labeling machine,PC,HMI,robot and other equipment are interconnected to complete the labeling system construction.In view of the higher accuracy and stronger anti-interference of yolov3 compared with the traditional machine vision method,the object detection technology of yolov3 is used to identify and locate the labeling position,and the robot actuator completes the labeling task.(3)Using CAM technology for reference to set up spraying character libraryFor 10 numbers and 26 letters of single line fonts,trajectory optimization and font translation,zoom and rotation functions are realized.Drawing lessons from the technology of cam,the algorithm of DXF file reading and line arc interpolation in AutoCAD is realized,so as to realize the code spraying program design of vector graphics.The key technology proposed in this paper has certain generality.It can be used not only for the marking of bundles of round steel,but also for the marking of coils or other rolled products.