CN110125967A - A kind of electromagnet magnetic force Automatic adjustment method and device - Google Patents
A kind of electromagnet magnetic force Automatic adjustment method and device Download PDFInfo
- Publication number
- CN110125967A CN110125967A CN201910482153.7A CN201910482153A CN110125967A CN 110125967 A CN110125967 A CN 110125967A CN 201910482153 A CN201910482153 A CN 201910482153A CN 110125967 A CN110125967 A CN 110125967A
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- magnetic force
- electromagnet
- target material
- information
- weight information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The embodiment provides a kind of electromagnet magnetic force Automatic adjustment method and devices, are related to automation field.By the characteristic information for identifying target material, then the weight information of target material is obtained according to characteristic information, the magnetic force size of electromagnet is finally adjusted according to weight information, it realizes when grabbing material, the magnetic force size of electromagnet can be adjusted according to the weight of material, the stability for promoting electromagnet crawl material, avoids material from falling.
Description
Technical field
The present invention relates to automation fields, in particular to a kind of electromagnet magnetic force Automatic adjustment method and device.
Background technique
With the development of intelligence manufacture, robot on automatic production line using more and more extensive, need to solve
Technical problem also occurs therewith.
Currently, generalling use sucker or electromagnet to grab material.Because there is waste heat after processing in material, if using
Sucker (sponge/rubber) grabs material, then be easy to cause sucker aging, failure, and the replacement maintenance cost of sucker is high.If
Material is grabbed using electromagnet, due to only grabbing material, artificial hand by manually regulating magnet magnetic force size at present
It is dynamic to adjust there is the shortcomings that holding suction size is difficult to, material can not be grabbed to accurate stable, and there is materials to be easy
The security risk fallen.Therefore, there is the magnetic force sizes that electromagnet cannot be automatically adjusted according to material to be grabbed for the prior art
Problem.
Summary of the invention
The purpose of the present invention includes, for example, a kind of electromagnet magnetic force Automatic adjustment method and device are provided, it being capable of root
According to the magnetic force size of the weight adjustment electromagnet of material, the stability of electromagnet crawl material is promoted, material is avoided to fall.
The embodiment of the present invention this can be implemented so that
The embodiment provides a kind of electromagnet magnetic force Automatic adjustment methods comprising following steps: identification mesh
The characteristic information for marking material obtains the weight information of target material according to characteristic information, adjusts electromagnet according to weight information
Magnetic force size.
The embodiments of the present invention also provide a kind of electromagnet magnetic force self-checking devices comprising identification module, weight
Data obtaining module and magnetic force adjustment module.The characteristic information of identification module target material for identification, weight information obtain mould
Block is used to obtain the weight information of target material according to characteristic information, and magnetic force adjustment module for adjusting electromagnetism according to weight information
The magnetic force size of iron.
Electromagnet magnetic force Automatic adjustment method provided in an embodiment of the present invention and device.By the feature for identifying target material
Then information obtains the weight information of target material according to characteristic information, finally adjust the magnetic force of electromagnet according to weight information
Size is realized when grabbing material, and the magnetic force size of electromagnet can be adjusted according to the weight of material, promotes electromagnet crawl
The stability of material, avoids material from falling.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the application scenarios signal of electromagnet magnetic force Automatic adjustment method provided by the embodiment of the present application and device
Figure.
Fig. 2 is a kind of flow diagram of electromagnet magnetic force Automatic adjustment method provided by the embodiment of the present application.
Fig. 3 is the functional block diagram of electromagnet magnetic force self-checking device provided by the embodiment of the present application.
Icon: 100- electromagnet magnetic force self-checking device；110- identification module；120- weight information obtains module；
130- magnetic force adjustment module；140- solenoid actuated module；201- transfer robot；202- mounting seat；203- retaining wall on slope
Platform；204- teaching machine；205- image acquisition unit；206- electromagnet；207-PLC control unit；208- machining area；209-
Workpiece rest area；210- machining robot；211- finished product puts area.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
It should be noted that in the absence of conflict, the feature in the embodiment of the present invention can be combined with each other.
During realizing the technical solution of the present embodiment, present inventor's discovery:
In the application scenarios of the automatic loading and unloading robot of beveling and cutting processing, need to realize the carrying up and down of steel plate,
I.e. the steel plate for carrying out retaining wall on slope is needed from the work top for being transported to retaining wall on slope in the material frame of ground, steel plates profile side is waited
After the completion of retaining wall on slope, then steel plate is carried to ground from machine table and carries out stacking.Sucker and electromagnet are generallyd use at present
Two ways realizes the carrying up and down of steel plate:
For relatively thin steel plateelement, the mode for generalling use sucker (sponge, rubber or silica gel etc.) absorption is grabbed.Due to steel
It having surplus heat (temperature is at 100 DEG C to 300 DEG C) after plate processing, sucker is easy aging under this mode, sucker is needed to be replaced frequently, at
This is higher.
For thicker steel plateelement, the mode for generalling use electromagnet absorption is grabbed.It at present can only be by manually adjusting
The magnetic force of economize on electricity magnet, and the mode manually adjusted is difficult to control the size of magnetic force, when the magnetic force manually adjusted is too small,
Handling cannot be sucked in monolithic steel plateelement, the security risk fallen is easy there are steel plateelement；When the magnetic force manually adjusted is excessive,
Plurality of steel plates part can be once grabbed, is unsatisfactory for the primary demand for only grabbing one piece of steel plateelement and being processed, and equally exist steel
Plate is easy the security risk fallen.Also, the mode manually adjusted really passes through manually rotating electromagnet control
Voltage adjusting knob on device processed carries out magnetic force adjustment, adjusts effect due to needing to adjust back and forth manually with the suitable magnetic force of determination
Rate is low.
Based on the research to drawbacks described above, the present embodiment proposes a kind of electromagnet magnetic force Automatic adjustment method and device.It needs
It is noted that defect present in the above scheme in the prior art, is inventor after practicing and carefully studying
It is obtaining as a result, therefore, what the discovery procedure of the above problem and the hereinafter embodiment of the present invention were proposed regarding to the issue above
Solution all should be the contribution that inventor makes the present invention in process of the present invention.In the following, being mentioned to the embodiment of the present invention
The electromagnet magnetic force Automatic adjustment method and device of confession are described in detail.
Referring to FIG. 1, for electromagnet magnetic force Automatic adjustment method and the applied field of device provided by the embodiment of the present application
Scape schematic diagram.The appropriate location near retaining wall on slope platform 203 is arranged in by mounting seat 202 in transfer robot 201, carries
Robot 201 can carry out human-computer interaction by teaching machine 204 and operator.Image is provided on transfer robot 201 to obtain
Taking unit 205 and electromagnet 206, (image acquisition unit 205 and electromagnet 206 can be set in transfer robot 201
On 6th axis), image acquisition unit 205 and electromagnet 206 are electrically connected with PLC control unit 207, image acquisition unit 205
It is sent to PLC control unit 207 for the image of photographic subjects material, and by the image, electromagnet 206 according to PLC for controlling
The driving instruction of unit 207 processed increases or reduces magnetic force.It is previously provided with machining area 208 on retaining wall on slope platform 203, carries
Robot 201 is used to grab the target material (such as steel plate) in workpiece rest area 209 by electromagnet 206 and move to adding
Work area domain 208, robot 210 to be processed to the target material after processing is completed, then by the target material completed the process crawl remove
It moves to finished product and puts area 211 and put.
Based on application scenarios shown in FIG. 1, the application proposes a kind of electromagnet magnetic force Automatic adjustment method, please refers to Fig. 2.
The electromagnet magnetic force Automatic adjustment method can be applied to the PLC control unit 207 in above-mentioned application scenarios, need to illustrate
It is that electromagnet magnetic force Automatic adjustment method provided in an embodiment of the present invention is not limitation with Fig. 2 and specific order below,
It should be appreciated that in other embodiments, the part steps in electromagnet magnetic force Automatic adjustment method provided in an embodiment of the present invention
Sequence can be exchanged with each other according to actual needs or part steps therein also can be omitted or delete.This method includes
Following steps:
Step S110 identifies the characteristic information of target material.
In the present embodiment, the image for including target material is obtained first, and got including target material
Image after, identify the characteristic information of the target material in the image.Wherein, the characteristic information of target material can be sets in advance
Identification label or size, shape, the color of target material etc. on target material are set, and target material can be
Object (magnetic material), such as iron plate, steel plate that electromagnet can adsorb etc..
Step S120 obtains the weight information of target material according to characteristic information.
In the present embodiment, can with the corresponding relationship of the characteristic information of pre-recorded target material and weight information, for example,
Assuming that can preset a record has each size, shape and weight when characteristic information is the size of target material, shape
The mapping table of information.It, can be according to corresponding to mapping table acquisition target material after getting characteristic information
Weight information.It should be understood that the weight information of target material can also be obtained according to the preset rule of correspondence, for example,
Assuming that directly target can be calculated according to the size of target material, shape when characteristic information is the size of target material, shape
The area of material, and converse the weight information of target material (thickness of the material of same outer dimension is identical).
Further, step S120 can specifically include: the object of target material is judged according to dimension information and shape information
Expect type；According to the corresponding relationship of preset material variety and weight information, determine that the material variety of target material is corresponding heavy
Measure information.For example, the material variety of target material can be judged according to the following table 1 and dimension information and shape information first, so
The weight information of target material is determined according to the following table 2 afterwards.
Table 1
| Dimension information | Shape information | Material variety |
| 20 cun | Square | A based plate |
| 20 cun | Diamond shape | Type B plate |
| 30 cun | Square | C-type plate |
Table 2
| Material variety | Weight information |
| A based plate | 20Kg |
| Type B plate | 10Kg |
| C-type plate | 50Kg |
Step S130 adjusts the magnetic force size of electromagnet according to weight information.
In the present embodiment, in order to enable electromagnet securely to grab material, and meet the object of crawl preset quantity every time
Material can preset adjustment rule, and adjust the magnetic force size of electromagnet according to weight information, and adjustment rule can be with are as follows: will
In any magnetic force size in the magnetic force size adjustment of electromagnet to more than the pre-set interval of the weight information.For example, it is assumed that weight
Amount information is 50Kg, then can adjust the magnetic force size of electromagnet to any position in the section 55Kg-60Kg.It is understood that
, adjustment rule may be: according to first function and the magnetic force size of weight information adjustment electromagnet.
Further, step S130 is specifically included: first that the magnetic force size of electromagnet is adjusted to weight information is preset
Multiple.Preferably, when each crawl only needs to grab one block of material, which can be the 1.1 of weight information
Any multiple between to 1.2 times.
Step S140, drive electromagnet adsorbed target material.
Optionally, after drive electromagnet adsorbed target material, target material can be transferred to drive electromagnet
Target area, to complete the carrying to target material.
Step S150 identifies the spacing between target material and unclassified stores.
In the present embodiment, target material can be stacked with unclassified stores and be placed, in drive electromagnet adsorbed target material,
And during moving to target material, the spacing between target material and unclassified stores is gradually increased, in order to ensure
It avoids causing falling for target material due to rocking vibration or collision during moving, can identify the target material and other
Spacing between material, and the magnetic force size of electromagnet is further adjusted with secured adsorbed target material according to the spacing.
Step S160 increases the magnetic force of electromagnet adsorbed target material when spacing is greater than preset value.
In the present embodiment, for example, the magnetic force of electromagnet adsorbed target material can be increased when spacing is greater than 20mm,
To ensure secured adsorbed target material.
Further, step S160 is specifically included: when spacing be greater than preset value when, by the magnetic force size of electromagnet adjust to
Not less than the second presupposition multiple of weight information.Preferably, the second presupposition multiple is 2 times.
A kind of electromagnet magnetic force Automatic adjustment method provided in this embodiment has at least the following advantages: can be according to material
Weight adjustment electromagnet magnetic force size, not only promoted electromagnet crawl material stability, avoid material from falling, be further without
Electromagnet magnetic force size is manually manually adjusted, is greatly improved work efficiency.Further, it is possible to automatically and steadily by target material
It is carried to target area, greatly improves production efficiency, has saved production cost.
In the following, the application scenarios of Fig. 1 will be combined to be further elaborated above-mentioned electromagnet magnetic force Automatic adjustment method.
In the present embodiment, image acquisition unit 205 is for obtaining the image information including target material, and by the image
Information is sent to PLC control unit 207, PLC control unit 207 for identification in image information target material characteristic information,
And the weight information of target material is obtained according to characteristic information, the magnetic force size of electromagnet 206 is then adjusted according to weight information,
The magnetic force size of electromagnet 206 is controlled to 206 output voltage analog signals of electromagnet.It completes to adjust electromagnet 206
Magnetic force size after, PLC control unit 207 can be with 206 adsorbed target material of drive electromagnet, and robot is driven to move mesh
Material is marked to machining area 208, in this process, it includes target material that image acquisition unit 205, which can also continue to obtain,
Image information, and the image information is sent to PLC control unit 207, PLC control unit 207 can identify the image information
Spacing between middle target material and unclassified stores increases 206 adsorbed target material of electromagnet when spacing is greater than preset value
Magnetic force, with secured adsorbed target material.Wherein, image acquisition unit 205 may include that high definition camera, light source and image obtain
The components such as controller, electromagnet 206 include the components such as 206 controller of 206 ontology of electromagnet and electromagnet, PLC control unit
207 in 206 adsorbed target material of drive electromagnet, and the position of centre of gravity of target material can be first identified from image information,
Then the position of centre of gravity of 206 adsorbed target material of drive electromagnet is steadily to grab material.
It is appreciated that in order to make image acquisition unit 205 obtain image information include target material characteristic information with
And the range information of target material and unclassified stores, through-hole can be preset to ensure image acquisition unit on target material
205 image informations obtained include the distance between target material and unclassified stores information, alternatively, can be by suitable position
Install multiple images acquiring unit 205 with and meanwhile obtain the characteristic information and target material and unclassified stores of target material
Range information.
The embodiment of the present application also provides a kind of electromagnet magnetic force self-checking device 100, referring to figure 3..It needs to illustrate
Electromagnet magnetic force self-checking device 100 provided by the present embodiment, the technical effect of basic principle and generation with it is aforementioned
Embodiment of the method is identical, to briefly describe, does not refer to part in the present embodiment, can refer to corresponding interior in preceding method embodiment
Hold.The electromagnet magnetic force self-checking device 100 can be applied in above-mentioned PLC control unit 207, which includes identification mould
Block 110, weight information obtain module 120, magnetic force adjustment module 130 and solenoid actuated module 140.
It is appreciated that above-mentioned identification module 110, weight information obtain module 120, magnetic force adjustment module 130 and electricity
Magnet drive module 140 is the software function module and computer program that can be executed by PLC control unit 207.
The characteristic information of the target material for identification of identification module 110.
It is understood that identification module 110 can execute above-mentioned steps S110.
Weight information obtains the weight information that module 120 is used to obtain target material according to characteristic information.Further, special
Reference breath includes the dimension information and shape information of target material, and weight information obtains module 120 and is specifically used for being believed according to size
Breath and shape information judge the material variety of target material, and close according to preset material variety is corresponding with weight information
System, determines the corresponding weight information of the material variety of target material.
It is understood that weight information, which obtains module 120, can execute above-mentioned steps S120.
Magnetic force adjustment module 130 for adjusting the magnetic force size of electromagnet according to weight information.Further, magnetic force adjustment
Module 130 is specifically used for adjusting the magnetic force size of electromagnet to the first presupposition multiple of weight information.
It is understood that magnetic force adjustment module 130 can execute above-mentioned steps S130.
Solenoid actuated module 140 is used for drive electromagnet adsorbed target material.
It is understood that solenoid actuated module 140 can execute above-mentioned steps S140.
Identification module 110 is also used to identify the spacing between target material and unclassified stores.
It is understood that identification module 110 can execute above-mentioned steps S150.
Magnetic force adjustment module 130 is also used to increase the magnetic force of electromagnet adsorbed target material when spacing is greater than preset value.
Further, magnetic force adjustment module 130 is specifically used for adjusting the magnetic force size of electromagnet to second not less than weight information
Presupposition multiple.
It is understood that magnetic force adjustment module 130 can execute above-mentioned steps S160.
You need to add is that the executing subject of above-mentioned electromagnet magnetic force Automatic adjustment method is above-mentioned electromagnet magnetic force
Self-checking device 100.
In conclusion the embodiment of the invention provides a kind of electromagnet magnetic force Automatic adjustment method and devices.Pass through identification
Then the characteristic information of target material obtains the weight information of target material according to characteristic information, finally adjusts according to weight information
The magnetic force size of whole electromagnet is realized when grabbing material, and the magnetic force size of electromagnet can be adjusted according to the weight of material,
The stability for not only promoting electromagnet crawl material, avoids material from falling, it is not necessary to which manually regulating magnet magnetic force is big
It is small, it greatly improves work efficiency.Further, it is possible to which target material is automatically and steadily carried to target area, greatly promoted
Production efficiency, has saved production cost.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims
It is quasi-.
Claims (10)
1. a kind of electromagnet magnetic force Automatic adjustment method, which is characterized in that the described method includes:
Identify the characteristic information of target material；
The weight information of the target material is obtained according to the characteristic information；
The magnetic force size of electromagnet is adjusted according to the weight information.
2. the method according to claim 1, wherein the characteristic information includes the size letter of the target material
Breath and shape information, the step of weight information that the target material is obtained according to the characteristic information include:
The material variety of the target material is judged according to the dimension information and shape information；
According to the corresponding relationship of preset material variety and weight information, determine that the material variety of the target material is corresponding heavy
Measure information.
3. the method according to claim 1, wherein the magnetic force for adjusting electromagnet according to the weight information
The step of size includes:
The magnetic force size of the electromagnet is adjusted to the first presupposition multiple of the weight information.
4. the method according to claim 1, wherein the method also includes:
Drive electromagnet adsorbs the target material；
Identify the spacing between the target material and unclassified stores；
When the spacing is greater than preset value, increase the magnetic force that the electromagnet adsorbs the target material.
5. according to the method described in claim 4, it is characterized in that, described when the spacing is greater than preset value, described in increase
Electromagnet adsorbs the step of magnetic force of the target material and includes:
The magnetic force size of the electromagnet is adjusted to the second presupposition multiple for being not less than the weight information.
6. a kind of electromagnet magnetic force self-checking device, which is characterized in that described device includes:
Identification module, for identification characteristic information of target material；
Weight information obtains module, for obtaining the weight information of the target material according to the characteristic information；
Magnetic force adjustment module, for adjusting the magnetic force size of electromagnet according to the weight information.
7. device according to claim 6, which is characterized in that the characteristic information includes the size letter of the target material
Breath and shape information, the weight information obtain module and are used to judge the object according to the dimension information and shape information
The material variety of material；
The weight information obtains module and is also used to the corresponding relationship according to preset material variety and weight information, determine described in
The corresponding weight information of the material variety of target material.
8. device according to claim 6, which is characterized in that the magnetic force adjustment module is used for the magnetic of the electromagnet
Power size is adjusted to the first presupposition multiple of the weight information.
9. device according to claim 6, which is characterized in that described device further include:
Solenoid actuated module adsorbs the target material for drive electromagnet；
The identification module is also used to identify the spacing between the target material and unclassified stores；
The magnetic force adjustment module is also used to increase the electromagnet when the spacing is greater than preset value and adsorb the object
The magnetic force of material.
10. device according to claim 9, which is characterized in that the magnetic force adjustment module is also used to the electromagnet
Magnetic force size adjust to be not less than the weight information the second presupposition multiple.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482153.7A CN110125967B (en) | 2019-06-04 | 2019-06-04 | Automatic adjusting method and device for magnetic force of electromagnet |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482153.7A CN110125967B (en) | 2019-06-04 | 2019-06-04 | Automatic adjusting method and device for magnetic force of electromagnet |
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| CN110125967A true CN110125967A (en) | 2019-08-16 |
| CN110125967B CN110125967B (en) | 2021-05-07 |
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| CN201910482153.7A Active CN110125967B (en) | 2019-06-04 | 2019-06-04 | Automatic adjusting method and device for magnetic force of electromagnet |
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| CN113829346A (en) * | 2021-09-26 | 2021-12-24 | 三一建筑机器人(西安)研究院有限公司 | Workpiece positioning method, workpiece positioning device and groove cutting workstation |
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|---|---|
| CN110125967B (en) | 2021-05-07 |
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