| With the proposal of "Made in China 2025",Chinese industry is bound to develop in the direction of intelligence,informatization and high quality.In China,special steel is mainly used in aerospace,transportation,military and national defense as well as other important fields.Because of the important position of special steel,the quality of which affects the economic development of China directly.Therefore,it is necessary to establish a quality and safety traceability system in the entire industry chain to uniquely identify each special steel bar produced.At present,in the field of identification,most of the special steel production enterprises still rely on manual identification.It is urgent to develop a set of automatic marking ink-jet printing equipment,which aims to solve the problems such as unclear sequence code,missing spraying and wrong spraying caused by manual printing.This paper mainly studies and designs the execution system,control system,bar end face positioning system,sequence code recognition system and upper computer monitoring system of Cartesian-coordinate code-spraying robot.The work and innovative research mainly include: 1)based on the bar end face code spraying principle,the rectangular coordinate code spraying robot system is designed,and the working principle as well as the system construction of the system are deeply studied;2)Based on machine vision and image pre-processing technology,an algorithm for bar end face positioning is proposed.The center coordinates of bar end face are obtained,and the actual distance between the end face and spray wharf is calculated;3)A kind of special steel bar code-spraying robot upper computer system is designed based on Siemens S7-200 SMARTER and Kingview 6.55.Through industrial Ethernet communications,the information acquisition and data exchange between the upper computer and the lower computer can be realized,so as to achieve the real-time monitoring and control requirements of the whole system;4)The character segmentation algorithm based on projection method and character recognition algorithm based on template matching are studied respectively to realize the segmentation and recognition of the bar end face sequence code;5)The key parts of the system are debugged and calibrated: the motion mode selection and parameter setting of the servo system,the calibration of the laser rangefinder and the industrial camera;6)The prototype of Cartesian coordinate inkjet robot system is designed and built,and the code spraying test is carried out.The accuracy and reliability of the research content are verified by the test results.In this paper,the rectangular coordinate code spraying robot inkjet equipment is developed,which solves the problem of manual printing,and realizes the real-time communication with the steel plant database,and can accurately identify the bar end face sequence code.The test results show that the inkjet equipment designed and developed in this paper has achieved accurate code spraying and information tracing abilities in the special steel industry,which provides an application model for the research in the field of code spraying and identification in China. |
