CN110125967B - Automatic adjusting method and device for magnetic force of electromagnet - Google Patents
Automatic adjusting method and device for magnetic force of electromagnet Download PDFInfo
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- CN110125967B CN110125967B CN201910482153.7A CN201910482153A CN110125967B CN 110125967 B CN110125967 B CN 110125967B CN 201910482153 A CN201910482153 A CN 201910482153A CN 110125967 B CN110125967 B CN 110125967B
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- electromagnet
- target material
- magnetic force
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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
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- 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
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- 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
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- 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 of the invention provides an automatic adjusting method and device for the magnetic force of an electromagnet, and relates to the field of automatic control. Through the characteristic information of discernment target material, then obtain the weight information of target material according to characteristic information, according to the magnetic force size of weight information adjustment electro-magnet at last, realized when snatching the material, can be according to the magnetic force size of the weight adjustment electro-magnet of material, promote the stability that the electro-magnet snatchs the material, avoid the material to drop.
Description
Technical Field
The invention relates to the field of automatic control, in particular to an automatic adjusting method and device for the magnetic force of an electromagnet.
Background
With the development of intelligent manufacturing, robots are more and more widely applied to automatic production lines, and technical problems to be solved also appear.
Currently, suction cups or electromagnets are commonly used to grasp the material. Because the material has the waste heat after processing, if adopt sucking disc (sponge/rubber) to snatch the material, then cause the sucking disc easily ageing, became invalid, the change maintenance cost of sucking disc is high moreover. If use the electro-magnet to snatch the material, because snatch the material through artifical manual regulation electro-magnet magnetic force size at present, artifical manual regulation exists and is difficult to hold the shortcoming of suction size, can't accurately snatch the material steadily, and has the potential safety hazard that the material dropped easily. Therefore, the prior art has the problem that the magnetic force of the electromagnet cannot be automatically adjusted according to the material to be grabbed.
Disclosure of Invention
The invention aims to provide an automatic adjusting method and device for the magnetic force of an electromagnet, which can adjust the magnetic force of the electromagnet according to the weight of a material, improve the stability of the electromagnet for grabbing the material and avoid the falling of the material.
Embodiments of the invention may be implemented as follows:
the embodiment of the invention provides an automatic adjusting method for the magnetic force of an electromagnet, which comprises the following steps: identifying the characteristic information of the target material, acquiring the weight information of the target material according to the characteristic information, and adjusting the magnetic force of the electromagnet according to the weight information.
The embodiment of the invention also provides an automatic adjusting device for the magnetic force of the electromagnet, which comprises an identification module, a weight information acquisition module and a magnetic force adjusting module. The identification module is used for identifying characteristic information of the target material, the weight information acquisition module is used for acquiring the weight information of the target material according to the characteristic information, and the magnetic force adjustment module is used for adjusting the magnetic force of the electromagnet according to the weight information.
The embodiment of the invention provides an automatic adjusting method and device for the magnetic force of an electromagnet. Through the characteristic information of discernment target material, then obtain the weight information of target material according to characteristic information, according to the magnetic force size of weight information adjustment electro-magnet at last, realized when snatching the material, can be according to the magnetic force size of the weight adjustment electro-magnet of material, promote the stability that the electro-magnet snatchs the material, avoid the material to drop.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an application scenario of the method and the device for automatically adjusting the magnetic force of an electromagnet according to the embodiment of the present application.
Fig. 2 is a schematic flow chart of an automatic adjustment method for magnetic force of an electromagnet according to an embodiment of the present application.
Fig. 3 is a functional module schematic diagram of an automatic adjusting device for magnetic force of an electromagnet according to an embodiment of the present application.
Icon: 100-an electromagnet magnetic force automatic adjusting device; 110-an identification module; 120-weight information acquisition module; 130-a magnetic force adjusting module; 140-an electromagnet driving module; 201-a transfer robot; 202-mounting a base; 203-groove processing platform; 204-a demonstrator; 205-an image acquisition unit; 206-an electromagnet; 207-PLC control unit; 208-a machining area; 209-workpiece placement area; 210-a processing robot; 211-finished product placing area.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the process of implementing the technical solution of the present embodiment, the inventors of the present application find that:
in the application scene of the automatic loading and unloading robot for the groove cutting machining, the steel plate needs to be conveyed up and down, namely the steel plate needing to be subjected to the groove machining is conveyed to a working table surface for the groove machining from a ground material frame, and after the groove machining of the outline of the steel plate is finished, the steel plate is conveyed to the ground from a machining table for stacking. Carry from top to bottom that adopts sucking disc and electro-magnet two kinds of modes to realize the steel sheet at present usually:
for thinner steel plate pieces, suction by a suction cup (sponge, rubber or silica gel, etc.) is generally adopted for grabbing. Because the steel plate has residual heat after being processed (the temperature is 100 ℃ to 300 ℃), the sucker is easy to age in the mode, the sucker needs to be replaced frequently, and the cost is high.
For thicker steel plate pieces, the steel plate pieces are usually grabbed in an electromagnet adsorption mode. At present, the magnetic force of the electromagnet can only be manually adjusted, but the manual adjustment mode is difficult to control the magnitude of the magnetic force, when the manual adjustment magnetic force is too small, a single steel plate piece cannot be sucked and lifted, and the potential safety hazard that the steel plate piece is easy to drop exists; when manual regulation's magnetic force was too big, can once snatch polylith steel sheet spare, unsatisfied once only snatchs the demand that a steel sheet spare carries out processing, has the potential safety hazard that steel sheet spare dropped easily moreover equally. In addition, the manual adjustment mode is that the magnetic force is adjusted by manually rotating a voltage adjusting knob on the electromagnet controller, and the adjustment efficiency is low because the appropriate magnetic force is determined by manual adjustment back and forth.
Based on the research on the above defects, the present embodiment provides an automatic adjustment method and device for the magnetic force of an electromagnet. It should be noted that the defects of the solutions in the above prior art are the results obtained after the inventor has made practice and careful study, therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventor to the present invention in the course of the present invention. Hereinafter, the method and the device for automatically adjusting the magnetic force of the electromagnet according to the embodiment of the present invention will be described in detail.
Fig. 1 is a schematic view of an application scenario of the method and the apparatus for automatically adjusting the magnetic force of an electromagnet according to the embodiment of the present application. The transfer robot 201 is disposed at an appropriate position near the groove preparation platform 203 via the mounting base 202, and the transfer robot 201 can perform human-computer interaction with an operator via the teach pendant 204. The transfer robot 201 is provided with an image acquisition unit 205 and an electromagnet 206 (the image acquisition unit 205 and the electromagnet 206 may be disposed on the sixth axis of the transfer robot 201), the image acquisition unit 205 and the electromagnet 206 are electrically connected to the PLC control unit 207, the image acquisition unit 205 is configured to capture an image of a target material and send the image to the PLC control unit 207, and the electromagnet 206 is configured to increase or decrease a magnetic force according to a driving instruction of the PLC control unit 207. The groove processing platform 203 is provided with a processing area 208 in advance, the handling robot 201 is used for grabbing and moving a target material (such as a steel plate) in a workpiece placing area 209 to the processing area 208 through the electromagnet 206, and after the processing of the target material by the processing robot 210 is completed, the processed target material is grabbed and moved to a finished product placing area 211 for placing.
Based on the application scenario shown in fig. 1, the present application provides an automatic adjustment method for the magnetic force of an electromagnet, please refer to fig. 2. The method for automatically adjusting the magnetic force of the electromagnet can be applied to the PLC control unit 207 in the application scenario, and it should be noted that, the method for automatically adjusting the magnetic force of the electromagnet provided in the embodiment of the present invention is not limited by fig. 2 and the following specific sequence, and it should be understood that, in other embodiments, the sequence of some steps in the method for automatically adjusting the magnetic force of the electromagnet provided in the embodiment of the present invention may be interchanged according to actual needs, or some steps may be omitted or deleted. The method comprises the following steps:
and step S110, identifying characteristic information of the target material.
In this embodiment, an image including a target material is first obtained, and after the image including the target material is obtained, feature information of the target material in the image is identified. The characteristic information of the target material may be an identification mark preset on the target material, or the size, shape, color, etc. of the target material, and the target material may be an object (magnetic material) that the electromagnet can attract, such as an iron plate, a steel plate, etc.
And step S120, acquiring weight information of the target material according to the characteristic information.
In this embodiment, the correspondence between the characteristic information of the target material and the weight information may be recorded in advance, for example, when the characteristic information is the size and the shape of the target material, a correspondence table in which the size, the shape, and the weight information are recorded may be set in advance. After the characteristic information is obtained, the weight information corresponding to the target material can be obtained according to the corresponding relation table. It can be understood that the weight information of the target material may also be obtained according to a preset correspondence rule, for example, if the characteristic information is the size and shape of the target material, the area of the target material may be directly calculated according to the size and shape of the target material, and the weight information of the target material may be converted (the thickness of the material with the same external dimension is the same).
Further, step S120 may specifically include: judging the material type of the target material according to the size information and the shape information; and determining weight information corresponding to the material type of the target material according to the corresponding relation between the preset material type and the weight information. For example, the material type of the target material may be first determined according to table 1 below and the size information and shape information, and then the weight information of the target material may be determined according to table 2 below.
TABLE 1
| Size information | Shape information | Kind of material |
| 20 cun below the floor | Square shape | A-type plate |
| 20 cun below the floor | Diamond shape | B-type plate |
| 30 cun below | Square shape | C-shaped plate |
TABLE 2
| Kind of material | Weight information |
| A-type plate | 20Kg |
| B-type plate | 10Kg |
| C-shaped plate | 50Kg |
And step S130, adjusting the magnetic force of the electromagnet according to the weight information.
In this embodiment, in order to make the electro-magnet can firmly snatch the material to satisfy and snatch the material of preset quantity at every turn, can preset adjustment rule, and according to the magnetic force size of weight information adjustment electro-magnet, adjustment rule can be: the magnetic force of the electromagnet is adjusted to be larger than any magnetic force in the preset interval of the weight information. For example, assuming that the weight information is 50Kg, the magnetic force of the electromagnet can be adjusted to any position within the interval of 55Kg-60 Kg. It is understood that the adjustment rule may also be: and adjusting the magnetic force of the electromagnet according to the first function and the weight information.
Further, step S130 specifically includes: and adjusting the magnetic force of the electromagnet to a first preset multiple of the weight information. Preferably, when only one material needs to be gripped per grip, the first preset multiple may be any multiple between 1.1 and 1.2 times the weight information.
And step S140, driving the electromagnet to adsorb the target material.
Optionally, after the driving electromagnet adsorbs the target material, the electromagnet can also be driven to transfer the target material to the target area so as to complete the handling of the target material.
And S150, identifying the distance between the target material and other materials.
In this embodiment, target material can pile up with other materials and place, adsorbs target material at the driving electromagnet to the in-process of moving target material, the interval between target material and other materials is crescent, avoids causing dropping of target material owing to rock vibrations or collision at the in-process of moving in order to ensure, can discern the interval between this target material and other materials, and further according to the magnetic force size of this interval adjustment electromagnet in order firmly to adsorb target material.
And step S160, when the distance is larger than a preset value, increasing the magnetic force of the electromagnet for adsorbing the target material.
In this embodiment, for example, when the pitch is larger than 20mm, the magnetic force with which the electromagnet adsorbs the target material may be increased to ensure firm adsorption of the target material.
Further, step S160 specifically includes: and when the distance is larger than the preset value, adjusting the magnetic force of the electromagnet to be not smaller than a second preset multiple of the weight information. Preferably, the second preset multiple is 2 times.
The method for automatically adjusting the magnetic force of the electromagnet provided by the embodiment at least has the following advantages: the magnetic force size of the electromagnet can be adjusted according to the weight of the material, the stability that the electromagnet grabs the material is improved, the material is prevented from falling, the magnetic force size of the electromagnet does not need to be manually adjusted, and the working efficiency is greatly improved. Moreover, the target material can be automatically and stably carried to the target area, the production efficiency is greatly improved, and the production cost is saved.
The above-mentioned method for automatically adjusting the magnetic force of the electromagnet will be further described with reference to the application scenario of fig. 1.
In this embodiment, the image obtaining unit 205 is configured to obtain image information including a target material, and send the image information to the PLC control unit 207, and the PLC control unit 207 is configured to identify characteristic information of the target material in the image information, and obtain weight information of the target material according to the characteristic information, and then adjust the magnetic force of the electromagnet 206 according to the weight information, that is, output a voltage analog signal to the electromagnet 206 to control the magnetic force of the electromagnet 206. After the adjustment of the magnetic force of the electromagnet 206 is completed, the PLC control unit 207 may further drive the electromagnet 206 to adsorb the target material, and drive the robot to move the target material to the processing area 208, in this process, the image acquisition unit 205 may further continuously acquire image information including the target material, and send the image information to the PLC control unit 207, the PLC control unit 207 may identify a distance between the target material and another material in the image information, and when the distance is greater than a preset value, the magnetic force of the electromagnet 206 to adsorb the target material is increased, so as to firmly adsorb the target material. The image acquisition unit 205 may include a high definition camera, a light source, an image acquisition controller, and the like, the electromagnet 206 includes an electromagnet 206 body, an electromagnet 206 controller, and the like, and when the PLC control unit 207 drives the electromagnet 206 to adsorb the target material, the PLC control unit may first identify the gravity center position of the target material from the image information, and then drive the electromagnet 206 to adsorb the gravity center position of the target material to stably grab the material.
It is to be understood that, in order to make the image information acquired by the image acquiring unit 205 include the characteristic information of the target material and the distance information between the target material and other materials, a through hole may be provided in advance on the target material to ensure that the image information acquired by the image acquiring unit 205 includes the distance information between the target material and other materials, or a plurality of image acquiring units 205 may be provided at appropriate positions to acquire the characteristic information of the target material and the distance information between the target material and other materials at the same time.
The embodiment of the present application further provides an automatic adjusting device 100 for the magnetic force of the electromagnet, please refer to fig. 3. It should be noted that the basic principle and the generated technical effect of the automatic adjusting device 100 for the magnetic force of the electromagnet provided in the present embodiment are the same as those of the foregoing method embodiments, and for a brief description, reference may be made to the corresponding contents in the foregoing method embodiments for the parts not mentioned in the present embodiment. The automatic adjusting device 100 for the magnetic force of the electromagnet can be applied to the PLC control unit 207, and includes an identification module 110, a weight information obtaining module 120, a magnetic force adjusting module 130, and an electromagnet driving module 140.
It is understood that the identification module 110, the weight information obtaining module 120, the magnetic force adjusting module 130, and the electromagnet driving module 140 are software functional modules and computer programs that can be executed by the PLC control unit 207.
The identification module 110 is used for identifying characteristic information of the target material.
It is understood that the identification module 110 may perform the step S110.
The weight information obtaining module 120 is configured to obtain weight information of the target material according to the characteristic information. Further, the characteristic information includes size information and shape information of the target material, and the weight information obtaining module 120 is specifically configured to determine a material type of the target material according to the size information and the shape information, and determine weight information corresponding to the material type of the target material according to a preset corresponding relationship between the material type and the weight information.
It is understood that the weight information acquiring module 120 may perform the above-described step S120.
The magnetic force adjusting module 130 is used for adjusting the magnetic force of the electromagnet according to the weight information. Further, the magnetic force adjusting module 130 is specifically configured to adjust the magnitude of the magnetic force of the electromagnet to a first preset multiple of the weight information.
It is understood that the magnetic force adjusting module 130 may perform the above step S130.
The electromagnet driving module 140 is used for driving the electromagnet to adsorb the target material.
It is understood that the electromagnet driving module 140 may perform the step S140.
The identification module 110 is also used to identify the spacing between the target material and other materials.
It is understood that the identification module 110 may perform the step S150.
The magnetic force adjusting module 130 is further configured to increase the magnetic force of the electromagnet for adsorbing the target material when the distance is greater than the preset value. Further, the magnetic force adjusting module 130 is specifically configured to adjust the magnitude of the magnetic force of the electromagnet to be not less than a second preset multiple of the weight information.
It is understood that the magnetic force adjusting module 130 may perform the above step S160.
It should be added that the execution main body of the above-mentioned electromagnet magnetic force automatic adjustment method is the above-mentioned electromagnet magnetic force automatic adjustment device 100.
In summary, the embodiments of the present invention provide an automatic adjusting method and device for magnetic force of an electromagnet. Through the characteristic information of discernment target material, then obtain the weight information of target material according to characteristic information, according to the magnetic force size of weight information adjustment electro-magnet at last, realized when snatching the material, can not only promote the stability that the electro-magnet snatchs the material according to the magnetic force size of the weight adjustment electro-magnet of material, avoid the material to drop, still do not need artifical manual regulation electro-magnet magnetic force size, improved work efficiency greatly. Moreover, the target material can be automatically and stably carried to the target area, the production efficiency is greatly improved, and the production cost is saved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (4)
1. An automatic adjusting method for the magnetic force of an electromagnet is characterized by comprising the following steps:
identifying characteristic information of the target material;
acquiring weight information of the target material according to the characteristic information;
adjusting the magnetic force of an electromagnet to a first preset multiple of the weight information, wherein the first preset multiple is any multiple between 1.1 and 1.2 times of the weight information;
driving an electromagnet to adsorb the target material;
identifying a spacing between the target material and other materials;
when the distance is larger than a preset value, increasing the magnetic force of the electromagnet for adsorbing the target material;
when the distance is larger than a preset value, the step of increasing the magnetic force of the electromagnet for adsorbing the target material comprises the following steps:
and adjusting the magnetic force of the electromagnet to be not less than a second preset multiple of the weight information.
2. The method of claim 1, wherein the characteristic information includes size information and shape information of the target material, and the step of obtaining weight information of the target material according to the characteristic information includes:
judging the material type of the target material according to the size information and the shape information;
and determining weight information corresponding to the material type of the target material according to a preset corresponding relation between the material type and the weight information.
3. An electromagnet magnetic force automatic regulating apparatus, characterized in that, the apparatus includes:
the identification module is used for identifying the characteristic information of the target material;
the weight information acquisition module is used for acquiring the weight information of the target material according to the characteristic information;
the magnetic force adjusting module is used for adjusting the magnetic force of the electromagnet to a first preset multiple of the weight information, wherein the first preset multiple is any multiple between 1.1 and 1.2 times of the weight information, and the electromagnet is used for adsorbing a target material after adjustment;
the electromagnet driving module is used for driving the electromagnet to adsorb the target material;
the identification module is also used for identifying the distance between the target material and other materials;
the magnetic force adjusting module is further used for increasing the magnetic force of the electromagnet for adsorbing the target material when the distance is larger than a preset value;
when the distance is larger than a preset value, the magnetic force adjusting module is further used for adjusting the magnetic force of the electromagnet to be not smaller than a second preset multiple of the weight information.
4. The device according to claim 3, wherein the characteristic information includes size information and shape information of the target material, and the weight information acquiring module is configured to determine a material type of the target material according to the size information and the shape information;
the weight information acquisition module is further used for determining weight information corresponding to the material type of the target material according to a preset corresponding relation between the material type and the weight information.
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| CN201910482153.7A CN110125967B (en) | 2019-06-04 | 2019-06-04 | Automatic adjusting method and device for magnetic force of electromagnet |
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| CN110696033A (en) * | 2019-10-18 | 2020-01-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN113829346B (en) * | 2021-09-26 | 2023-08-11 | 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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| CN106493086A (en) * | 2016-10-21 | 2017-03-15 | 北京源著智能科技有限公司 | The sorting of sheet material processes method and system |
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| JP2015142454A (en) * | 2014-01-29 | 2015-08-03 | キヤノン株式会社 | Actuator and multi-joint robot arm |
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| CN102514944A (en) * | 2011-12-06 | 2012-06-27 | 奇瑞汽车股份有限公司 | Magnetic-force separating device |
| CN105798922B (en) * | 2016-05-12 | 2018-02-27 | 中国科学院深圳先进技术研究院 | A kind of home-services robot |
| CN106493086A (en) * | 2016-10-21 | 2017-03-15 | 北京源著智能科技有限公司 | The sorting of sheet material processes method and system |
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| CN207223954U (en) * | 2017-08-16 | 2018-04-13 | 深圳果力智能科技有限公司 | A kind of intelligent grabbing robot |
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Effective date of registration: 20211129 Address after: 710000 Room 305, building 5, Fengxi new town headquarters economic Park, Xixian New District, Xi'an City, Shaanxi Province Patentee after: Sany construction robot (Xi'an) Research Institute Co., Ltd Address before: No.129, south section of Huangxing Avenue, Langli street, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee before: Hunan Sany Building Co.,Ltd. |