CN103182657A - Method and device for positioning automatic allocation device - Google Patents
Method and device for positioning automatic allocation device Download PDFInfo
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- CN103182657A CN103182657A CN2011104494717A CN201110449471A CN103182657A CN 103182657 A CN103182657 A CN 103182657A CN 2011104494717 A CN2011104494717 A CN 2011104494717A CN 201110449471 A CN201110449471 A CN 201110449471A CN 103182657 A CN103182657 A CN 103182657A
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Abstract
The invention provides a method for positioning an automatic allocation device, which comprises the following steps that a controller receives an operation start command; the controller starts a position detection device according to the operation start command; the position detection device detects the center coordinates of a jig and sends the center coordinates of the jig to the controller; and the controller controls a mechanical arm to carry out positioning operation according to the center coordinates of the jig. The embodiment of the invention also provides a corresponding device. After the method for positioning the automatic allocation device and the corresponding device, which are provided by the embodiment of the invention, are adopted, the position of the center coordinates of the jig can be obtained by the position detection device and then the controller controls a transmission to reach the set center coordinates of the jig, so that automatic positioning is implemented, time consumed by manual positioning is reduced, and production efficiency is improved.
Description
Technical field
The present invention relates to the production and processing field, particularly relate to a kind of automatic deployment device localization method and device.
Background technology
Most production lines of using in the production and processing field, a kind of automatic allotment production line appears at present, as shown in Figure 1, grasp feeding belt by mechanical arm 1 and carry the operating platform 2 that disposal facility is placed into the middle part for the treatment of of coming to dispose, and be placed into the discharging band after the equipment that disposal is finished grasped and carry out discharging.
In actual use, can place the required tool of operation on the operating platform 2, when laying for the first time tool or changing tool, because the tool riding position changes, the device location that needs manually mechanical arm 1 to be placed or grasped on the tool is calibrated.
In practical operation, the present inventor finds that to change the required manual calibration mechanical arm process of tool loaded down with trivial details at every turn, needs the long period to cause production efficiency low.
Summary of the invention
For addressing the above problem, the invention provides a kind of automatic deployment device localization method, comprising:
Controller receives the operation sign on;
Controller is according to described operation sign on enable possition sniffer;
Positional detecting device is surveyed the tool centre coordinate and is sent to controller;
Controller positions operation according to described tool centre coordinate control mechanical arm.
Further, described controller reception operation sign on is specially: controller receives the operation sign on that operating personnel send by switch key.
Further, described positional detecting device is surveyed the tool centre coordinate and is sent to controller and comprises:
Described positional detecting device is surveyed center X-axis coordinate and the Y-axis coordinate of the tool that is placed on operating platform, and feeds back described X-axis coordinate and Y-axis coordinate.
Further, described positional detecting device center X-axis coordinate and the Y-axis coordinate of surveying the tool that is placed on operating platform is specially:
By X-axis stadia surveying X-axis coordinate;
By Y-axis stadia surveying Y-axis coordinate.
Further, described positional detecting device center X-axis coordinate and the Y-axis coordinate of surveying the tool that is placed on operating platform is specially:
Described positional detecting device is surveyed the shop bolt position of the tool placement that is placed on operating platform by the inductor in the default shop bolt hole;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
Further, described controller positions to operate according to described tool centre coordinate control mechanical arm and comprises:
Controller moves according to X-axis and Y-axis that described tool centre coordinate is controlled described mechanical arm, arrives described tool centre coordinate.
The embodiment of the invention also provides a kind of automatic allotment positioner, comprises controller, position sensor and is connected with the transmission device of mechanical arm;
Described controller is electrically connected described position sensor and transmission device;
Controller is used for receiving the operation sign on; And according to described operation sign on enable possition sniffer; Position operation according to tool centre coordinate control mechanical arm;
Positional detecting device is used for surveying the tool centre coordinate and sending to controller.
Further, described controller also comprises switch, and controller receives the operation sign on that operating personnel send by switch key.
Further, described positional detecting device is surveyed center X-axis coordinate and the Y-axis coordinate of the tool that is placed on operating platform, and feeds back described X-axis coordinate and Y-axis coordinate.
Further, described positional detecting device comprises X-axis rangefinder and Y-axis rangefinder;
The X-axis rangefinder is used for the measured X axial coordinate;
The Y-axis rangefinder is used for measuring the Y-axis coordinate.
Further, described positional detecting device
By the default aerial inductor of shop bolt, survey the shop bolt position of the tool placement that is placed on operating platform;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
Further, described controller is controlled moving along X-axis and Y-axis of described transmission device according to described tool centre coordinate, arrives described tool centre coordinate.
The centre coordinate position that the automatic deployment device localization method that the employing embodiment of the invention provides and related device can obtain tool by positional detecting device, controller control transmission device arrives and formulates the tool centre coordinate then, realized automatic location, reduce the time of the consumption of artificial location, improved production efficiency.
Description of drawings
Fig. 1 is the structural representation of production line deployment device in the prior art;
Fig. 2 is the flow chart of an embodiment of a kind of automatic deployment device localization method of the present invention;
Fig. 3 is the structural representation of a kind of automatic allotment positioner one embodiment of the present invention.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with the drawings and specific embodiments the application is described in further detail.
With reference to the flow chart of Fig. 2 for an embodiment of a kind of automatic deployment device localization method of the present invention, the localization method of the automatic deployment device that the embodiment of the invention provides comprises:
Step S101, controller receive the operation sign on;
In the application's preferred embodiment, controller receives the operation sign on that operating personnel send by the switch key that arranges in the controller.
Step S102, controller are according to operation sign on enable possition sniffer;
In the application's preferred embodiment, after controller received the operation sign on, positional detecting device began to survey the tool centre coordinate.
Step S103, positional detecting device are surveyed the tool centre coordinate and are sent to controller;
Concrete step S103 can adopt:
By X-axis stadia surveying X-axis coordinate;
By Y-axis stadia surveying Y-axis coordinate.
In the application's preferred embodiment, positional detecting device is equipped with the X-axis rangefinder in X-axis, in Y-axis the Y-axis rangefinder is installed.Shop bolt center X-axis coordinate by X-axis stadia surveying tool; The Y-axis coordinate at the shop bolt center by Y-axis stadia surveying tool goes out the coordinate of tool then according to X-axis and Y-axis coordinate setting.Described tool has three shop bolts at least, and the shop bolt of tool is inserted into the pin hole of operating platform.Controller receives the operation sign on that operating personnel send by switch key, and positional detecting device begins to survey center X-axis coordinate and the Y-axis coordinate of the tool shop bolt that is inserted in the operating platform pin hole.Center X-axis and Y-axis coordinate by the tool that detects feed back to controller, and controller arrives described tool centre coordinate according to tool centre coordinate control mechanical arm X-axis and Y-axis motion and positions operation then.
The another kind of tool centre coordinate mode of surveying can be in the following way:
Positional detecting device is surveyed the shop bolt position of the tool placement that is placed on operating platform by the inductor in the default shop bolt hole;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
In the application's preferred embodiment, all be preset with inductor in each shop bolt hole of operating platform.Positional detecting device detects the shop bolt that tool is arranged in which shop bolt hole by default inductor, goes out center X-axis coordinate and the Y-axis coordinate of tool then according to the position calculation of sensing several shop bolts hole of shop bolt.
Step S104, controller position operation according to described tool centre coordinate control mechanical arm.
In the application's preferred embodiment, center X-axis and Y-axis coordinate by the tool that detects feed back to controller, and controller arrives described tool centre coordinate according to tool centre coordinate control mechanical arm X-axis and Y-axis motion and positions operation then.
Be the structural representation of a kind of automatic allotment positioner one embodiment of the present invention with reference to Fig. 3, the automatic allotment positioner that provides in the embodiment of the invention comprises: controller 31, position sensor 32 and be connected with the transmission device 34 of mechanical arm 33;
Described controller 31 connects described position sensor 32 and transmission device 34;
Positional detecting device 32 is used for surveying the tool centre coordinate and sending to controller 31.
Described controller 31 also comprises switch 311, and controller 31 receives the operation sign on that operating personnel send by switch key.
Described positional detecting device 32 is surveyed center X-axis coordinate and the Y-axis coordinate of the tool that is placed on operating platform, and feeds back described X-axis coordinate and Y-axis coordinate.
In the application's the preferred embodiment, described tool has three shop bolts at least, and the shop bolt of tool is inserted into the pin hole 35 of operating platform.Controller 31 receives the operation sign on that operating personnel send by switch 311 buttons, and positional detecting device 32 begins to survey center X-axis coordinate and the Y-axis coordinate of the tool shop bolt that is inserted in the operating platform pin hole 35.Center X-axis and Y-axis coordinate by the tool that detects feed back to controller 31, and controller arrives described tool centre coordinate according to tool centre coordinate control mechanical arm 33X axle and Y-axis motion and positions operation then.
Described positional detecting device 32 comprises X-axis rangefinder 321 and Y-axis rangefinder 322;
Y-axis rangefinder 322 is used for measuring the Y-axis coordinate.
35 inductor in the shop bolt hole that described positional detecting device 32 passes through to preset, detection is placed on the shop bolt position of the tool placement of operating platform;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
Described controller 31 is controlled moving along X-axis and Y-axis of described transmission device 34 according to described tool centre coordinate, arrives described tool centre coordinate.
In the application's preferred embodiment, positional detecting device 32 is equipped with X-axis rangefinder 321 in X-axis, in Y-axis Y-axis rangefinder 322 is installed.Measure the shop bolt center X-axis coordinate of tool by X-axis rangefinder 321; Measure the Y-axis coordinate at the shop bolt center of tools by Y-axis rangefinder 322, go out the coordinate of tool then according to X-axis and Y-axis coordinate setting.Center X-axis and Y-axis coordinate by the tool that detects feed back to controller 31, and controller 31 arrives described tool centre coordinate according to tool centre coordinate control mechanical arm 33X axle and Y-axis motion and positions operation then.
The another kind of tool centre coordinate mode of surveying can be in the following way in the application's the preferred embodiment:
All be preset with inductor in each shop bolt hole 35 of operating platform.Positional detecting device 32 detects the shop bolt that tool is arranged in which shop bolt hole 35 by default inductor, goes out center X-axis coordinate and the Y-axis coordinate of tool then according to the position calculation of sensing several shop bolts hole 35 of shop bolt.Center X-axis and Y-axis coordinate by the tool that detects feed back to controller 31, and controller 31 arrives described tool centre coordinate according to tool centre coordinate control mechanical arm 33X axle and Y-axis motion and positions operation then.
The automatic deployment device localization method and the related device that adopt the embodiment of the invention to provide can produce following beneficial effect: the centre coordinate position that obtains tool by positional detecting device, controller control transmission device arrives and formulates the tool centre coordinate then, realized automatic location, reduce the time of the consumption of artificial location, improved production efficiency.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. an automatic deployment device localization method is characterized in that, comprising:
Controller receives the operation sign on;
Controller is according to described operation sign on enable possition sniffer;
Positional detecting device is surveyed the tool centre coordinate and is sent to controller;
Controller positions operation according to described tool centre coordinate control mechanical arm.
2. method according to claim 1 is characterized in that, described controller receives the operation sign on and is specially: controller receives the operation sign on that operating personnel send by switch key.
3. method according to claim 1 and 2 is characterized in that, described positional detecting device is surveyed the tool centre coordinate and sent to controller and comprises:
Described positional detecting device is surveyed center X-axis coordinate and the Y-axis coordinate of the tool that is placed on operating platform, and feeds back described X-axis coordinate and Y-axis coordinate.
4. method according to claim 3 is characterized in that, center X-axis coordinate and Y-axis coordinate that described positional detecting device is surveyed the tool that is placed on operating platform are specially:
By X-axis stadia surveying X-axis coordinate;
By Y-axis stadia surveying Y-axis coordinate.
5. method according to claim 3 is characterized in that, center X-axis coordinate and Y-axis coordinate that described positional detecting device is surveyed the tool that is placed on operating platform are specially:
Described positional detecting device is surveyed the shop bolt position of the tool placement that is placed on operating platform by the inductor in the default shop bolt hole;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
6. method according to claim 1 is characterized in that, described controller positions operation according to described tool centre coordinate control mechanical arm and comprises:
Controller moves according to X-axis and Y-axis that described tool centre coordinate is controlled described mechanical arm, arrives described tool centre coordinate.
7. an automatic allotment positioner is characterized in that, comprises controller, position sensor and is connected with the transmission device of mechanical arm;
Described controller is electrically connected described position sensor and transmission device;
Controller is used for receiving the operation sign on; And according to described operation sign on enable possition sniffer; Position operation according to tool centre coordinate control mechanical arm;
Positional detecting device is used for surveying the tool centre coordinate and sending to controller.
8. device according to claim 7 is characterized in that, described controller also comprises switch, and controller receives the operation sign on that operating personnel send by switch key.
9. according to claim 7 or 8 described devices, it is characterized in that described positional detecting device is surveyed center X-axis coordinate and the Y-axis coordinate of the tool that is placed on operating platform, and feeds back described X-axis coordinate and Y-axis coordinate.
10. device according to claim 9 is characterized in that, described positional detecting device comprises X-axis rangefinder and Y-axis rangefinder;
The X-axis rangefinder is used for the measured X axial coordinate;
The Y-axis rangefinder is used for measuring the Y-axis coordinate.
11. device according to claim 9 is characterized in that, described positional detecting device is surveyed the shop bolt position of the tool placement that is placed on operating platform by the default aerial inductor of shop bolt;
Go out center X-axis coordinate and the Y-axis coordinate of tool by described shop bolt position calculation.
12. device according to claim 7 is characterized in that, described controller is controlled moving along X-axis and Y-axis of described transmission device according to described tool centre coordinate, arrives described tool centre coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110449471.7A CN103182657B (en) | 2011-12-29 | A kind of automatic milk feeder localization method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110449471.7A CN103182657B (en) | 2011-12-29 | A kind of automatic milk feeder localization method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103182657A true CN103182657A (en) | 2013-07-03 |
| CN103182657B CN103182657B (en) | 2016-12-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106216284A (en) * | 2016-08-14 | 2016-12-14 | 杭州锐冠科技有限公司 | The most clear a kind of plate system |
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| CN101907455A (en) * | 2010-01-19 | 2010-12-08 | 奇瑞汽车股份有限公司 | Three-coordinate measuring method for positioning pin not vertical to reference surface |
| WO2010143837A2 (en) * | 2009-06-08 | 2010-12-16 | (주)이지로보틱스 | Robot calibration apparatus and method for same |
| CN201892495U (en) * | 2010-11-29 | 2011-07-06 | 西安超码科技有限公司 | Device for surveying and drawing hole site of multi-hole bottom plate of hydrogenation furnace based on coordinate method |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101909828A (en) * | 2007-12-27 | 2010-12-08 | 莱卡地球系统公开股份有限公司 | Method and system for the high-precision positioning of at least one object in a final location in space |
| WO2010143837A2 (en) * | 2009-06-08 | 2010-12-16 | (주)이지로보틱스 | Robot calibration apparatus and method for same |
| CN101710486A (en) * | 2009-11-15 | 2010-05-19 | 苏州佳世达电通有限公司 | Automatic alignment system and method thereof, and test system of display device and method thereof |
| CN101907455A (en) * | 2010-01-19 | 2010-12-08 | 奇瑞汽车股份有限公司 | Three-coordinate measuring method for positioning pin not vertical to reference surface |
| CN201892495U (en) * | 2010-11-29 | 2011-07-06 | 西安超码科技有限公司 | Device for surveying and drawing hole site of multi-hole bottom plate of hydrogenation furnace based on coordinate method |
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| CN106216284A (en) * | 2016-08-14 | 2016-12-14 | 杭州锐冠科技有限公司 | The most clear a kind of plate system |
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