CN114425788B - Plane positioning device based on guiding magnetic label and positioning method thereof - Google Patents
Plane positioning device based on guiding magnetic label and positioning method thereof Download PDFInfo
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- CN114425788B CN114425788B CN202111562073.6A CN202111562073A CN114425788B CN 114425788 B CN114425788 B CN 114425788B CN 202111562073 A CN202111562073 A CN 202111562073A CN 114425788 B CN114425788 B CN 114425788B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a plane positioning device based on a guiding magnetic mark and a positioning method thereof. The device comprises a non-magnetic sample plate and a mechanical arm, wherein an initial position and a sample position are arranged on the non-magnetic sample plate, a guiding magnetic mark is arranged between the initial position and the sample position and between the sample position and the sample position, and a magnetic sensor is arranged on the mechanical arm. In the positioning method, the mechanical arm senses the magnetic field direction of the guiding magnetic label through the magnetic sensor to conduct guiding movement and positioning of sample grade. The invention has the beneficial effects that: the positioning of the grade of the plane object is realized without expensive servo systems, position and angle sensing and visual positioning recognition systems; the mechanical arm does not need to predict coordinate points of each position in advance, and can automatically search and position more quickly; the function of identifying the position "number" is realized at extremely low cost.
Description
Technical Field
The invention belongs to the technical field of equipment workpiece positioning, and particularly relates to a plane positioning device based on a guiding magnetic mark and a positioning method thereof.
Background
In automated production equipment and instruments, it is often necessary to place articles on a planar mechanism for handling, processing, etc. operations of the articles. After the movement, the moving object is required to be positioned, identified and grabbed by the mechanical arm.
On the plane mechanism, each article has a unique number, and the grade of each article placed on the plane plate needs to be recorded during loading. After the operation movement, the mechanical arm is required to be used for positioning each sample position for grabbing, the articles at the position are grabbed to the designated position, and the articles cannot be disordered from front to back.
In the traditional technical solution, the final positioning of the stop position is realized by precisely controlling a motor or a high-precision sensor. However, most of such devices or sensors are expensive and cumbersome and inconvenient to assemble and use.
Disclosure of Invention
The invention aims at: the invention provides a plane positioning device based on a guiding magnetic mark and a positioning method thereof, which solve the problems of high manufacturing cost and inconvenient use of the traditional plane positioning equipment.
The aim of the invention is achieved by the following technical scheme:
the plane positioning device based on the guiding magnetic mark comprises a non-magnetic sample plate and a mechanical arm, wherein an initial position and a sample position are arranged on the non-magnetic sample plate, the guiding magnetic mark is arranged at the initial position and the sample position, the sample position is positioned at the magnetic pole of the guiding magnetic mark, the magnetic field direction of the previous guiding magnetic mark is downwards same in grade, and a magnetic sensor is arranged on the mechanical arm.
Further, the non-magnetic sample plate is a non-ferromagnetic sample plate.
Further, an included angle exists between the magnetic field directions of the two adjacent guiding magnetic targets.
Further, the guiding magnetic mark is a bar magnet or a coil.
Further, the guiding magnetic label is buried in the non-magnetic sample plate,
further, the guiding magnetic mark is a weak bar magnet.
Further, the guiding magnetic labels are coils, and the control circuit is connected with each guiding magnetic label respectively.
Further, the magnetic sensor is a three-dimensional magnetic sensor.
The positioning method of the positioning device comprises the following steps:
a. the mechanical arm runs to the starting position according to the known starting position coordinates;
b. the magnetic sensor senses the magnetic field direction of the guiding magnetic target at the initial position, and the mechanical arm runs along the direction;
c. the magnetic sensor senses the magnetic field direction of the next guiding magnetic mark, continues to run along the magnetic field direction after running to the magnetic field direction, and stops the subsequent movement and records the position information after sensing the magnetic pole of the guiding magnetic mark, namely the mechanical arm is positioned at the positioning point above the sample grade;
d. the mechanical arm continues to run along the magnetic field direction of the guiding magnetic label at the sample position;
e. the magnetic sensor senses the magnetic field direction of the next guiding magnetic mark, and continues to run along the magnetic field direction after running to the magnetic field direction, and the mechanical arm is positioned at the upper positioning point of the next grade after sensing the magnetic pole of the guiding magnetic mark;
f. and e, repeating the operation of e, and sequentially positioning the same grade until all the steps are completed.
Further, in the step d, the sample is moved to a locating point, the mechanical arm of the mechanical arm performs grabbing operation on the sample and returns to the locating point, and then the mechanical arm continues searching; in the step e, when the sample moves to the position right above the same grade, the grabbing operation of the sample can be performed, and finally the sample still returns to the position.
The invention realizes the following functions:
1. the positioning of the rotation position can be realized at low cost with only a common motor and no displacement sensor, and the "number" of each position can be recognized.
2. The robotic arm has the ability to automatically search and identify sample locations.
3. The whole set of device has high cost performance and is convenient for batch production and assembly.
The invention has the beneficial effects that:
1. the positioning of the grade of the plane object is realized without expensive servo systems, position and angle sensing and visual positioning recognition systems.
2. The mechanical arm does not need to predict coordinate points of each position in advance, and can automatically search and position quickly.
3. The function of identifying the position "number" is realized at extremely low cost.
The foregoing inventive subject matter and various further alternatives thereof may be freely combined to form a plurality of alternatives, all of which are employable and claimed herein; and the invention can be freely combined between the (non-conflicting choices) choices and between the choices and other choices. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
Drawings
FIG. 1 is a schematic representation of a sample plate of the present invention.
Fig. 2 is a schematic view of a robotic arm of the present invention.
In the figure: 1-non-magnetic sample plate, 2-initial position, 3-guiding magnetic label, 4-sample grade, 5-mechanical arm and 6-magnetic sensor.
Detailed Description
The following non-limiting examples illustrate the invention.
Example 1:
referring to fig. 1 and 2, a plane positioning device based on a guiding magnetic label comprises a non-magnetic sample plate 1 and a mechanical arm 5. The non-magnetic sample plate 1 is preferably a non-ferromagnetic sample plate, and the non-magnetic sample plate 1 is provided with a start position 2 and a sample position 4, and the position coordinates of the start position 2 on the non-magnetic sample plate 1 are known.
The initial position 2 and the sample position 4 are both provided with guide magnetic labels 3, the initial position 2 and the sample position 4 are positioned on the magnetic poles of the guide magnetic labels 3, and the magnetic field direction of the previous guide magnetic labels 3 is downwards directed to be the same grade 4. The magnetic field of the guiding magnetic label 3 is utilized to magnetically guide the mechanical arm 5, so that a movement path of the mechanical arm 5 is formed.
An included angle exists between the magnetic field directions (broken lines in the figure) of two adjacent guiding magnetic labels 3, so that the requirements of various positions of sample grade 4 are met. The guiding magnetic label 3 is a bar magnet or a coil, the bar magnet has magnetism, and the coil is electrified to generate a magnetic field.
For each guiding magnetic label, the problem of magnetic field interaction has to be considered. The method can be solved by the following steps:
1. the magnetic induction intensity of the magnetic label is weakened, preferably, the guiding magnetic label 3 is buried in the non-magnetic sample plate 1, and the guiding magnetic label 3 is a weak bar magnet.
2. The guiding magnetic labels 3 are coils, preferably non-magnetic solenoids, the control circuit is respectively connected with the guiding magnetic labels 3, and the on-off circuit is specified by the control circuit so that only one solenoid is started in each navigation. When the mechanical arm moves out of the magnetic field range of the solenoid, the mechanical arm stops, and starts to move to the next solenoid, so that the sequential guidance without magnetic field interference is realized.
The mechanical arm 5 is provided with a magnetic sensor 6, and the magnetic sensor 6 is preferably a three-dimensional magnetic sensor, so that the magnetic field direction of a certain point can be known. The robotic arm 5 needs to have the ability to automatically search and identify the sample position, i.e. the control unit determines the position of the sample grade by the direction of the magnetic field and distinguishes the number of the position.
The relative positions of the mechanical arm and the magnetic sensor are known and fixed, namely, after the magnetic sensor successfully locates a certain grade, the mechanical arm is provided with fixed parameters to perform relative movement, so that the mechanical claw and the article can be aligned, and the article grabbing can be implemented.
Example 2:
referring to fig. 1 and 2, in a positioning method of the positioning device, from the start position 2, a bar magnet or coil is disposed at each position, and the magnetic field direction of the bar magnet or coil is directed to the next sample grade. Each sample position 4 is arranged at a certain fixed magnetic pole of the guiding magnetic label 3, namely, after the specified magnetic pole position of the guiding magnetic label is accurately positioned, the mechanical arm can be aligned with the sample position.
The sample grade is arranged at the N magnetic pole of each guide magnetic mark, and the relative orientation of the sample grade and the N magnetic pole is fixed and known.
In this way, the mechanical arm performs the positioning and identification of each sample grade according to the following steps:
a. the robot arm 5 moves to the start position 2 according to the known position coordinates of the start position 2.
b. The magnetic sensor 6 senses the magnetic field direction of the guiding magnetic label 3 at the start position 2, and the mechanical arm 5 runs along the direction.
c. The magnetic sensor 6 senses the magnetic field direction of the next guiding magnetic label 3, continues to run along the magnetic field direction after running to the magnetic field direction, and stops the subsequent movement and records the position information after sensing the magnetic pole N of the guiding magnetic label 3, namely the mechanical arm 5 is positioned at the positioning point above the sample grade 4.
d. After the mechanical arm 5 grips the sample, the mechanical arm returns to the positioning point, and then the mechanical arm 5 continues to run along the magnetic field direction of the guiding magnetic label 3 at the sample position 4.
e. The magnetic sensor 6 senses the magnetic field direction of the next guiding magnetic label 3, continues to run along the magnetic field direction after running to the magnetic field direction, and after sensing the magnetic pole N of the guiding magnetic label 3, namely the mechanical arm 5 is positioned at the upper positioning point of the next grade 4, stops the subsequent movement and records the position information, so that the grabbing operation of the sample can be performed, and finally the sample still returns to the position.
f. And e, repeating the operation of e, and sequentially positioning the next grade 4 until all the steps are completed.
For the mode of utilizing the break-make of coil to carry out the guide in proper order, last direction magnetic mark direction is accomplished after promptly, after the arm can be along magnetic field direction operation, can close this direction magnetic mark, then opens next direction magnetic mark, realizes the location steering of arm.
The foregoing basic embodiments of the invention, as well as other embodiments of the invention, can be freely combined to form numerous embodiments, all of which are contemplated and claimed. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. Plane positioner based on direction magnetic scale, including non-magnetism sample plate (1) and arm (5), its characterized in that: the non-magnetic sample plate (1) is provided with a starting position (2) and a sample position (4), the starting position (2) and the sample position (4) are both provided with guide magnetic marks (3), the sample grade (4) is positioned at the magnetic poles of the guide magnetic marks (3), the magnetic field direction of the last guide magnetic mark (3) is the same grade (4) downwards, and the mechanical arm (5) is provided with a magnetic sensor (6); and magnetically guiding the mechanical arm (5) by utilizing the magnetic field of the guiding magnetic label (3) to form a movement path of the mechanical arm (5).
2. The positioning device of claim 1, wherein: the non-magnetic sample plate (1) is a non-ferromagnetic sample plate.
3. The positioning device of claim 1, wherein: an included angle exists between the magnetic field directions of two adjacent guiding magnetic labels (3).
4. The positioning device of claim 1, wherein: the guiding magnetic label (3) is a bar magnet or a coil.
5. The positioning device of claim 1 or 4, wherein: the guiding magnetic label (3) is embedded in the non-magnetic sample plate (1).
6. The positioning device of claim 1, wherein: the guiding magnetic label (3) is a weak bar magnet.
7. The positioning device of claim 1, wherein: the guiding magnetic labels (3) are coils, and the control circuit is respectively connected with each guiding magnetic label (3).
8. The positioning device of claim 1, wherein: the magnetic sensor (6) is a three-dimensional magnetic sensor.
9. A positioning method of a positioning device according to any one of claims 1 to 8, comprising the steps of:
a. the mechanical arm (5) runs to the position of the starting position (2) according to the known position coordinates of the starting position (2);
b. the magnetic sensor (6) senses the magnetic field direction of the guiding magnetic mark (3) at the initial position (2), and the mechanical arm (5) runs along the direction;
c. the magnetic sensor (6) senses the magnetic field direction of the next guiding magnetic label (3), continues to run along the magnetic field direction after running to the magnetic field direction, and stops subsequent movement and records the position information after sensing the magnetic pole of the guiding magnetic label (3), namely the mechanical arm (5) is positioned at a positioning point above the sample grade (4);
d. the mechanical arm (5) continues to run along the magnetic field direction of the guiding magnetic label (3) at the sample position (4);
e. the magnetic sensor (6) senses the magnetic field direction of the next guiding magnetic mark (3), and continues to run along the magnetic field direction after running to the magnetic field direction, and the mechanical arm (5) is positioned at the positioning point above the next grade (4) after sensing the magnetic pole of the guiding magnetic mark (3);
f. and e, repeating the operation of e, and sequentially positioning the next grade (4) until all the steps are completed.
10. The positioning method according to claim 9, wherein: in the step d, the sample is moved to a locating point, the mechanical arm of the mechanical arm (5) performs grabbing operation on the sample and then returns to the locating point, and then the mechanical arm (5) continues searching; in the step e, when the sample moves to the position right above the next grade (4), the grabbing operation of the sample at the sample position can be performed, and finally the sample still returns to the position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111562073.6A CN114425788B (en) | 2021-12-20 | 2021-12-20 | Plane positioning device based on guiding magnetic label and positioning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111562073.6A CN114425788B (en) | 2021-12-20 | 2021-12-20 | Plane positioning device based on guiding magnetic label and positioning method thereof |
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| Publication Number | Publication Date |
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| CN114425788A CN114425788A (en) | 2022-05-03 |
| CN114425788B true CN114425788B (en) | 2023-09-22 |
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| CN103272786A (en) * | 2013-03-31 | 2013-09-04 | 浙江阮仕珍珠股份有限公司 | Grabbing device of pearl color sorting system |
| CN105459116A (en) * | 2015-12-23 | 2016-04-06 | 北京控制工程研究所 | Robot remote operation device and method based on magnetometer |
| CN209086751U (en) * | 2018-10-15 | 2019-07-09 | 中国石油天然气集团有限公司 | A kind of wave detector grabbing device based on Magnetic oriented |
| US10471599B1 (en) * | 2017-09-05 | 2019-11-12 | Amazon Technologies, Inc. | Robotic item manipulation using magnetic coupling |
| CN111345773A (en) * | 2018-12-20 | 2020-06-30 | 重庆金山医疗器械有限公司 | Capsule control device, magnetic control capsule endoscope movement control system and method |
| CN111486838A (en) * | 2020-04-13 | 2020-08-04 | 北京理工大学 | Method and device for establishing effective magnetic connection |
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2021
- 2021-12-20 CN CN202111562073.6A patent/CN114425788B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103272786A (en) * | 2013-03-31 | 2013-09-04 | 浙江阮仕珍珠股份有限公司 | Grabbing device of pearl color sorting system |
| CN105459116A (en) * | 2015-12-23 | 2016-04-06 | 北京控制工程研究所 | Robot remote operation device and method based on magnetometer |
| US10471599B1 (en) * | 2017-09-05 | 2019-11-12 | Amazon Technologies, Inc. | Robotic item manipulation using magnetic coupling |
| CN209086751U (en) * | 2018-10-15 | 2019-07-09 | 中国石油天然气集团有限公司 | A kind of wave detector grabbing device based on Magnetic oriented |
| CN111345773A (en) * | 2018-12-20 | 2020-06-30 | 重庆金山医疗器械有限公司 | Capsule control device, magnetic control capsule endoscope movement control system and method |
| CN111486838A (en) * | 2020-04-13 | 2020-08-04 | 北京理工大学 | Method and device for establishing effective magnetic connection |
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