用于冷轧钢卷的机器人激光标识设备的设计与应用

Design and Application of Robot Laser Marking Equipment for Cold-rolled Coiled Steel

针对某冷轧厂退火炉前钢卷的人工标识存在工作量大、易出错、招工难等问题,设计了一套全自动机器人激光标识设备,用于替代人工标识作业,优化生产节拍,提高标识作业的稳定性。针对冷轧钢卷来料多规格的工艺特点,采用六轴工业机器人作为执行机构作为激光打标机机头移动和姿态调整的载体;针对来料钢卷实际外形为类椭圆形且表面有高低起伏,导致激光刻蚀的二维码字符标识不清晰、不均匀的问题,采用了一对COMS激光传感器调整激光打标机机头的空间姿态,使机头上的激光镜头与钢卷表面素线保持平行,并且使镜头中心线与标识位置的钢卷表面法线重合。现场使用表明,该系统稳定可靠,满足全自动标识的需求,标识成功率达到99.9%,完全替代人工作业,节省人工成本支出;单卷标识时间小于2 min,提高了生产效率,降低了安全隐患。

Aiming at the problems of the manual marking of coiled steel before annealing furnace in cold rolling mill,such as heavy workload,error-prone and hard to recruit workers,acomplete set of full-automatic robot laser marking equipment was designed,the intention was to replace the manual marking work,optimize the work production rate and enhance the stability of the marking work.Contraposing to the process characteristic of a multiple specification of the incoming coiled steel,a 6-axis industrial robot was used as the actuator,which served as the carrier of the movement and posture adjustment for the laser marking device's handpiece.Contraposing to the problem of unsharpness of the QR code and characters etching by laser,which caused by the oval outline of the incoming coiled steel with ups and downs on the surface,a pair of COMS laser sensor was used to adjust the spatial posture of the laser marking device's handpiece,parallels the laser lens with the surface tessellation lines of the coiled steel,and make the central line of the lens coinciding with the normal of the marking location on the coiled steel's surface.Field usage suggests that the system is stable and reliable,meets the requirements of full-automatic marking,and the marking success rate exceeds 99.9%,it can fully replace the manual operation,reduce the labor cost;the marking time of single coiled steel is less than 2 min,which enhances the production efficiency and reduces the hidden danger.