CN106994692A - A kind of method that utilization mechanical arm looks for cylinder product center - Google Patents
A kind of method that utilization mechanical arm looks for cylinder product center Download PDFInfo
- Publication number
- CN106994692A CN106994692A CN201710160223.8A CN201710160223A CN106994692A CN 106994692 A CN106994692 A CN 106994692A CN 201710160223 A CN201710160223 A CN 201710160223A CN 106994692 A CN106994692 A CN 106994692A
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- CN
- China
- Prior art keywords
- cylinder product
- measuring sensor
- mechanical arm
- distance measuring
- reference plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Do and be provided with gripper on the method that a kind of utilization mechanical arm of disclosure of the invention looks for cylinder product center, including mechanical arm, the mechanical arm, it is characterised in that：Distance measuring sensor is installed on the manipulator, its job step is as follows：A, mechanical arm control machine machinery claw are down so that distance measuring sensor is placed in reference plane towards reference plane, cylinder product, and the axial direction of cylinder product is parallel with reference plane；B, mechanical arm control machine machinery claw move to cylinder product opposite side at the upper side of cylinder product along the radial level of cylinder product cross section so that distance measuring sensor detects the distance with the distance of reference plane and with cylinder product surface；The present invention is quickly found out the two edges of cylinder product using the distance change of distance measuring sensor, and the central point of two edges is the center of cylinder product so that mechanical arm energy control machine machinery claw moves to correct position, and cylinder product are picked up.
Description
Technical field
Cylinder product center method is looked for the present invention relates to one kind, more particularly to a kind of utilization mechanical arm looks for the side at cylinder product center
Method.
Background technology
Because the cylinder such as film product easily occur to roll skew, and spy can be used to the cylinder product of the surface such as film easy damaged
Different clamping jaw plays its pawl, and this clamping jaw includes the interior pawl stretched into cylinder product centre bore and the outer pawl that cylinder product are caught from outer,
At present in crawl, when the cylinder product such as film slightly shift, it can make it that the clamping jaw path set in advance can not be accurate
Cylinder product are picked up, it is necessary to carry out manual intervention, it is very inconvenient.
The content of the invention
Present invention solves the technical problem that being to provide a kind of simple and quick one kind for searching out cylinder product center of energy utilizes machine
The method that tool arm looks for cylinder product center.
The technical solution adopted for the present invention to solve the technical problems is：Including mechanical arm, it is provided with the mechanical arm
Gripper, it is characterised in that：Distance measuring sensor is installed on the manipulator, its job step is as follows：
A, mechanical arm control machine machinery claw are down so that distance measuring sensor is placed in reference plane towards reference plane, cylinder product,
The axial direction of cylinder product is parallel with reference plane；
B, mechanical arm control machine machinery claw move to cylinder at the upper side of cylinder product along the radial level of cylinder product cross section
Product opposite side so that distance measuring sensor detects the distance with cylinder product surface, cylindrical center is drawn according to distance；
It is further：When reference plane is plane, it is specially：Reference plane sets reference plane a little as origin, ranging sensing
The distance of device and reference plane is d1, and when moving to cylinder product one end margin of surface, distance measuring sensor is measured and cylinder product edge
Apart from d2, and record current X-axis coordinate X1, when moving to another end margin in cylinder product surface, distance measuring sensor measures circle
Post product other edge apart from d3, d2=d3, and record current X-axis coordinate X2, ranging is passed when distance measuring sensor continues to move
Sensor is measured with reference plane apart from d1；
Cylindrical center's point X-axis coordinate
Cylindrical center's point Y-axis coordinate
It is further：When reference plane is cancave cambered surface,
Specially：If the face parallel with cancave cambered surface lowermost end is some origin, the vertical range of distance measuring sensor origin is
The beeline measured in Y1, a diameter of Y2 of cylinder product, distance measuring sensor motion process is d4, records now X-axis coordinate X3；
Cylindrical center's point X-axis coordinate is X3；
Cylindrical center's point Y-axis coordinate
The beneficial effects of the invention are as follows：The present invention is quickly found out in cylinder product using the distance change of distance measuring sensor
The heart so that mechanical arm energy control machine machinery claw moves to correct position, and cylinder product are picked up, and is caused on clamping jaw using such a method
When stacking etc. is operated, the fixed point location without realizing cylinder product every time, even if position skew occurs for cylinder product, can also be realized
The accurate of cylinder product is picked up.
Brief description of the drawings
Fig. 1 is that method schematic diagram is surveyed in cylinder product examine.
Fig. 2 is distance and time variation diagram when distance measuring sensor is detected.
Fig. 3 is the detection method schematic diagram when cylinder product are placed on cancave cambered surface.
Marked in figure：Mechanical arm 1, gripper 2, distance measuring sensor 3.
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
On the method that a kind of utilization mechanical arm as shown in Figure 1 looks for cylinder product center, including mechanical arm 1, the mechanical arm 1
Gripper 2 is provided with, the mechanical arm 1 and gripper 2 are prior art, can directly buy acquisition, and mechanical arm 1 can be used three
Shaft mechanical arm 1, five shaft mechanical arms 1 and six shaft mechanical arms 1 etc., are provided with distance measuring sensor 3 on the manipulator, the ranging is passed
Sensor 3 can be used the distance measuring sensor 3 of commercially available various models, distance measuring sensor 3 used herein
Model lrtb5000, its job step is as follows：
A, the control machine machinery claw 2 of mechanical arm 1 are down so that distance measuring sensor 3 is placed on reference plane towards reference plane, cylinder product
On, the axial direction of cylinder product is parallel with reference plane；
B, the control machine machinery claw 2 of mechanical arm 1 move to circle at the upper side of cylinder product along the radial level of cylinder product cross section
Post product opposite side so that distance measuring sensor 3 detects the distance with the distance of reference plane and with cylinder product surface；
Specially：Reference plane sets reference plane a little as origin, and distance measuring sensor 3 works as fortune with being d1 with the distance of reference plane
When moving to cylinder product one end margin of surface, distance measuring sensor 3 measures with cylindrical edge and to sport d2 apart from d2, i.e. d1, and remembers
Current X-axis coordinate X1 is recorded, when moving to another end margin in cylinder product surface, distance measuring sensor 3 measures cylinder other edge
Apart from d3, d2=d3, and current X-axis coordinate X2 is recorded, distance measuring sensor 3 is measured and base when distance measuring sensor 3 continues to move
Quasi- face apart from d1 (distance that i.e. distance measuring sensor 3 is measured will be mutated by d3 to d1)；
Cylindrical center's point X-axis coordinate
Cylindrical center's point Y-axis coordinate
During grasping manipulation, mechanical arm 1 can driving mechanical pawl 2 reach cylindrical center Dian Chu, realize to cylinder product
Accurate crawl, and this method is simple in construction, while the center of cylinder can be quickly found out, finds efficiency and precision is carried
It is high.
When reference plane is cancave cambered surface, A, mechanical arm (1) control machine machinery claw (2) are down so that distance measuring sensor (3) direction
Reference plane, cylinder product are placed in reference plane, and the axial direction of cylinder product is parallel with reference plane；
B, mechanical arm (1) control machine machinery claw (2) are moved at the upper side of cylinder product along the radial level of cylinder product cross section
To cylinder product opposite side so that distance measuring sensor (3) detects the distance with cylinder product surface；
Specially：If the face parallel with cancave cambered surface lowermost end is some origin, the vertical range of distance measuring sensor origin is
The beeline measured in Y1, a diameter of Y2 of cylinder product, distance measuring sensor motion process is d4, records now X-axis coordinate X3；
Cylindrical center's point X-axis coordinate is X3；
Cylindrical center's point Y-axis coordinate
Such a method, the center of circle can be quickly found out yet even if reference plane for plane, convenient and swift.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (3)
1. set organic on a kind of method that utilization mechanical arm looks for cylinder product center, including mechanical arm (1), the mechanical arm (1)
Machinery claw (2), it is characterised in that：Distance measuring sensor (3) is installed, its job step is as follows on the manipulator：
A, mechanical arm (1) control machine machinery claw (2) are down so that distance measuring sensor (3) is placed on benchmark towards reference plane, cylinder product
On face, the axial direction of cylinder product is parallel with reference plane；
B, mechanical arm (1) control machine machinery claw (2) move to circle at the upper side of cylinder product along the radial level of cylinder product cross section
Post product opposite side so that distance measuring sensor (3) detects the distance with cylinder product surface, and cylindrical center is drawn according to distance.
2. the method that a kind of utilization mechanical arm as claimed in claim 1 looks for cylinder product center, it is characterised in that：When reference plane is
During plane,
Specially：Reference plane sets reference plane a little as origin, and the distance of distance measuring sensor (3) and reference plane is d1, when moving to
During cylinder product one end margin of surface, distance measuring sensor (3) is measured with cylinder product edge apart from d2, and records current X-axis coordinate
X1, when moving to another end margin in cylinder product surface, distance measuring sensor (3) measure cylinder product other edge apart from d3, d2
=d3, and current X-axis coordinate X2 is recorded, when distance measuring sensor (3) continues to move, distance measuring sensor (3) is measured and reference plane
Apart from d1；
Cylindrical center's point X-axis coordinate
Cylindrical center's point Y-axis coordinate
3. the method that a kind of utilization mechanical arm as claimed in claim 1 looks for cylinder product center, it is characterised in that：When reference plane is
During cancave cambered surface,
Specially：If the face parallel with cancave cambered surface lowermost end is some origin, the vertical range of distance measuring sensor origin is Y1, circle
The beeline measured in a diameter of Y2 of post product, distance measuring sensor motion process is d4, records now X-axis coordinate X3；
Cylindrical center's point X-axis coordinate is X3；
Cylindrical center's point Y-axis coordinate
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160223.8A CN106994692A (en) | 2017-03-17 | 2017-03-17 | A kind of method that utilization mechanical arm looks for cylinder product center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710160223.8A CN106994692A (en) | 2017-03-17 | 2017-03-17 | A kind of method that utilization mechanical arm looks for cylinder product center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106994692A true CN106994692A (en) | 2017-08-01 |
Family
ID=59431498
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710160223.8A Pending CN106994692A (en) | 2017-03-17 | 2017-03-17 | A kind of method that utilization mechanical arm looks for cylinder product center |
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| Country | Link |
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| CN (1) | CN106994692A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986759A (en) * | 2019-10-21 | 2020-04-10 | 湖北工业大学 | Round bar center point measuring device and method based on infrared distance measuring sensor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103673906A (en) * | 2013-12-12 | 2014-03-26 | 北京动力源创科技发展有限公司 | Laser scanning and diameter measuring instrument and method for measuring outer diameter of workpiece |
| CN105136035A (en) * | 2015-09-15 | 2015-12-09 | 常州铭赛机器人科技股份有限公司 | Device for non-contact measurement of center coordinates of drum and method thereof |
| CN105423946A (en) * | 2015-11-27 | 2016-03-23 | 天津大学 | Laser-displacement-sensor-based journal axle center measurement apparatus, and measurement and calibration methods thereof |
-
2017
- 2017-03-17 CN CN201710160223.8A patent/CN106994692A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103673906A (en) * | 2013-12-12 | 2014-03-26 | 北京动力源创科技发展有限公司 | Laser scanning and diameter measuring instrument and method for measuring outer diameter of workpiece |
| CN105136035A (en) * | 2015-09-15 | 2015-12-09 | 常州铭赛机器人科技股份有限公司 | Device for non-contact measurement of center coordinates of drum and method thereof |
| CN105423946A (en) * | 2015-11-27 | 2016-03-23 | 天津大学 | Laser-displacement-sensor-based journal axle center measurement apparatus, and measurement and calibration methods thereof |
Non-Patent Citations (1)
| Title |
|---|
| 王连堂等: "《数学建模》", 31 May 2008 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986759A (en) * | 2019-10-21 | 2020-04-10 | 湖北工业大学 | Round bar center point measuring device and method based on infrared distance measuring sensor |
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170801 |
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| RJ01 | Rejection of invention patent application after publication |