CN112857871A - Positioning and sampling device and method for manipulator - Google Patents
Positioning and sampling device and method for manipulator Download PDFInfo
- Publication number
- CN112857871A CN112857871A CN202110044258.1A CN202110044258A CN112857871A CN 112857871 A CN112857871 A CN 112857871A CN 202110044258 A CN202110044258 A CN 202110044258A CN 112857871 A CN112857871 A CN 112857871A
- Authority
- CN
- China
- Prior art keywords
- sample
- electromagnet
- station
- motor
- induction sensor
- 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.)
- Pending
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims description 23
- 230000006698 induction Effects 0.000 claims abstract description 53
- 230000001939 inductive effect Effects 0.000 claims abstract description 35
- 230000005389 magnetism Effects 0.000 claims abstract description 5
- 238000003801 milling Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 description 17
- 238000004519 manufacturing process Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000012546 transfer Methods 0.000 description 8
- 238000009628 steelmaking Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- 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
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Biochemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Sampling And Sample Adjustment (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a positioning and sampling device for a manipulator, comprising: the device comprises a motor, a slip ring, an electromagnet, a first induction sensor, a second induction sensor and a third induction sensor; the first induction sensor is used for inducing the sample box with the box cover opened to reach a first station; the second induction sensor is used for inducing the position of the tail handle of the racket sample so that the main control module can align the electromagnet to the position of the tail handle; the electromagnet is used for generating magnetism by electrifying under the control of the main control module so as to grab a racket sample; the third induction sensor is used for identifying the relative difference between the racket sample and the station to be placed after the manipulator rotates to the second station; the motor is used for rotating the electromagnet to a proper position according to the relative difference under the control of the main control module; the electromagnet is also used for being powered off under the control of the main control module so as to accurately place the racket sample into the station to be placed.
Description
Technical Field
The invention relates to the technical field of sample detection in the steel-making industry, in particular to a positioning and sampling device and method for detecting an ABB manipulator on a production line.
Background
At present, the steel industry has not been able to detect steel products, especially some steel products with strict quality requirements. With the transformation and upgrading of intelligent manufacturing environment, the detection technology of the steel sample is also more and more advanced and automated.
Generally, the detection of a steel sample includes the preparation of the sample, the transportation of the sample, the analysis of the sample, and the like. The preparation of the steel sample also includes a plurality of processes, a sample (typically, a racket sample) is obtained from molten steel by an initial sampling device, and then the sample is conveyed to a milling machine for milling, polishing and other steps, and finally the sample is conveyed to an analysis instrument for analysis (such as spectral analysis, chemical component analysis and the like), that is, on the basis of automatic detection, all devices and conveying devices on a detection production line are in a staggered configuration, and an ABB manipulator is needed to transfer the steel sample at a position where certain processes are handed over.
For example, in a conventional section of detection production line, a sample is transmitted by an air conveying system, a sample box for containing the sample reaches an air conveying station, a box cover is automatically opened, an ABB manipulator automatically turns to the air conveying station to perform clamping action after receiving the signal, and the action position is just designed to be a tail handle for grabbing the sample of the racket. And the ABB manipulator transfers to a milling machine station again, and the sample is placed in the gap of the triangular table clamp arm of the milling machine, and is milled by the milling machine. Thus, the ABB manipulator circularly moves back and forth at two positions of the pneumatic conveying station and the milling machine station.
The inventor discovers in the research, at the in-process of steelmaking actual sampling, can have racket appearance caudal peduncle sample or cut the situation of irregularity, the caudal peduncle of racket appearance sample or present the pointy form, or it is longer (surpass 4-8mm of normal length far away) to appear reserving, the sample is packing into the appearance box like this, will deviate normal draw-in groove, and is same, turn to the wind and send the station to press from both sides when the ABB manipulator and get, also can deviate normal caudal peduncle and grab the position, turn to the milling machine station when the ABB manipulator and put into the triangle bench vice, will appear pressing from both sides and fly or press from both sides not tightly, seriously influence the quality of follow-up milling appearance, delay the timely rate of sample detection, reduce the efficiency of detection operation.
Therefore, there is a need for improvements to existing inspection lines.
Disclosure of Invention
In view of the above, the present invention provides a positioning and sampling device and method for a manipulator, which can accurately clamp the tail handle position of a racket sample and accurately place the racket sample into a triangular vice on a milling machine, thereby improving the operation efficiency of a detection production line.
In order to achieve the purpose, the invention provides the following technical scheme:
one aspect of the embodiments of the present invention provides a positioning and sampling device for a robot, including: the device comprises a motor, a slip ring, an electromagnet, a first induction sensor, a second induction sensor and a third induction sensor;
the motor is connected with the slip ring, the slip ring is connected with the electromagnet, and the motor can drive the slip ring and the electromagnet to rotate; the motor and the first to third induction sensors are electrically connected with a main control module of the manipulator, the electromagnet is electrically connected with the motor and the main control module of the manipulator through the slip ring, and the motor, the slip ring, the electromagnet and the first to third induction sensors work cooperatively under the control of the main control module;
the first induction sensor is used for inducing the sample box with the box cover opened to reach a first station;
the second induction sensor is used for inducing the position of the tail handle of the racket sample so that the main control module can align the electromagnet to the position of the tail handle;
the electromagnet is used for generating magnetism by electrifying under the control of the main control module so as to grab a racket sample;
the third induction sensor is used for identifying the relative difference between the racket sample and the station to be placed after the manipulator rotates to the second station;
the motor is used for rotating the electromagnet to a proper position according to the relative difference under the control of the main control module;
the electromagnet is also used for being powered off under the control of the main control module so as to accurately place the racket sample into the station to be placed.
In one embodiment of the present invention, the motor is a dc motor.
In one embodiment of the present invention, the motor is installed below a jawarm of the robot.
In one embodiment of the present invention, the first inductive sensor and the third inductive sensor are mounted on a vertical connecting rod, and an upper section of the vertical connecting rod is fixedly connected to a housing of the motor.
In one embodiment of the invention, the third inductive sensor is mounted above the first inductive sensor.
In one embodiment of the invention, the second inductive sensor is mounted on the barrier between the slip ring and the electromagnet.
In one embodiment of the present invention, the first to third inductive sensors are photosensors, scanning sensors, or image sensors.
The positioning and sampling device for the manipulator comprises a motor, a sliding ring, an electromagnet, a first induction sensor, a second induction sensor and a third induction sensor, wherein when a sample reaches a first station, the first induction sensor is used for sensing the position of a sample box, the second induction sensor is used for sensing the position of a tail handle of a racket sample, the electromagnet is used for grabbing, the manipulator is rotated to a second station, the third induction sensor is used for sensing the position to be placed, the electromagnet is rotated and adjusted, and finally the racket sample is accurately placed.
Another aspect of the embodiments of the present invention provides a positioning sampling method, including:
the sample box arrives at the first station, and the box cover is opened;
the manipulator rotates to a first station, and the sample box is sensed and confirmed by the first induction sensor;
the second induction sensor induces the position of the tail handle of the racket sample;
the electromagnet is aligned to the position of the tail handle and is electrified to grab a racket-like sample;
the manipulator rotates to a second station;
a third induction sensor is used for inducing and identifying the relative difference between the racket sample and the station to be placed;
the motor drives the electromagnet to rotate through the slip ring, and the racket sample is adjusted to a proper position;
the electromagnet is powered off to accurately put down the racket sample.
In one embodiment of the invention, the first station is a station where the pneumatic conveying system is connected with a manipulator.
In one embodiment of the invention, the second station is a station where the manipulator is connected with the milling machine, and the position where the racket-like sample is to be placed is a clamp arm gap of a triangular bench clamp on the milling machine.
The positioning sampling method provided by the embodiment of the invention effectively solves the problems that the racket sample is conveyed to a mechanical arm system by an air conveying system to prepare the sample, the tail handle of the racket sample is automatically and accurately positioned, and the triangular bench clamp of a milling machine is accurately placed, and realizes the improvement of the sample milling quality and the detection timeliness of the racket sample.
Drawings
FIG. 1 is a schematic structural diagram of a positioning and sampling device for a robot in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an application scenario of a positioning sampling device according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a positioning sampling method according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
The embodiment of the invention is an improvement on a detection production line relative to the existing steelmaking enterprises. In the existing detection production line, a sample needs to go through a plurality of processes. Under the automatic detection technology, the sample is automatically transmitted under the driving of a conveying system. When the sample is switched among a plurality of processes, an ABB manipulator is needed to grab and transfer the sample. ABB manipulators typically utilize an actuator at the end of a jawarm to grasp and transfer a sample. In the prior art, the ABB manipulator end effector is designed to just grab the racket-like sample tail handle when performing the gripping action. Thus, although the design is simplified, there are problems that a grasping position is wrong and a placing position is not proper after the sample deviates from a standard shape.
In order to enable the ABB manipulator of a production line for steel-making enterprise detection to accurately grab a sample and accurately switch between a process and a station, the positioning and sampling device for the manipulator is provided to be matched with the existing manipulator for use.
Referring to fig. 1, in one embodiment of the present invention, there is provided a positioning and sampling device for a robot, comprising: the device comprises a motor 1, a slip ring 2, an electromagnet 3, a first inductive sensor 6, a second inductive sensor 4 and a third inductive sensor 5. The motor 1 is connected with the slip ring 2, the slip ring 2 is connected with the electromagnet 3, and the motor 1 can drive the slip ring 2 and the electromagnet 3 to rotate. Motor 1, first to third inductive pick-up electricity connect the host system of manipulator, and electro-magnet 3 passes through the host system of sliding ring electricity connecting motor 1 and manipulator, and motor 1, sliding ring 2, electro-magnet 3, first to third inductive pick-up are under host system's control collaborative work. And the first induction sensor 6 is used for inducing the sample box with the box cover opened to reach the first station. And the second induction sensor 4 is used for sensing the position of the tail handle of the racket-like sample so that the main control module can align the electromagnet to the position of the tail handle. And the electromagnet 3 is used for generating magnetism by electrifying under the control of the main control module so as to grab the racket sample. And the third inductive sensor 5 is used for identifying the relative difference between the racket sample and the station to be placed after the manipulator rotates to the second station. And the motor 1 is used for rotating the electromagnet 3 to a proper position according to the relative difference under the control of the main control module. And the electromagnet is also used for switching off the electrification under the control of the main control module so as to accurately place the racket sample into the station to be placed.
Specifically, the positioning and sampling device for the manipulator is installed below one clamp arm of the conventional ABB manipulator. The improved detection production line and the ABB manipulator do not use the existing end effector when grabbing the racket sample, but carry out identification of stations and alignment and grabbing of the sample based on the improved positioning and sampling device, so that accurate grabbing and placing of the sample are realized.
Specifically, the location sampling device for manipulator that above-mentioned embodiment provided, which comprises a motor, the sliding ring, the electro-magnet, first inductive sensor, second inductive sensor and third inductive sensor, reach first station at the sample, utilize first inductive sensor response sample box position, the caudal peduncle position of second inductive sensor response racket appearance sample, recycle the electro-magnet and snatch, await the transfer of manipulator to the second station, utilize third inductive sensor response to treat the position of placing, rotatory adjustment electro-magnet again, finally put into racket appearance sample accuracy, compare in the mode that prior art snatched by manipulator default position after the sample arrived the station, the problem of grabbing wrong position or misplacing the position has been avoided, thereby the operating efficiency of producing the line that detects has been improved.
An application scenario of the positioning sampling device is explained in an embodiment of the present invention based on fig. 2 and 3. In fig. 2, 11 is an ABB manipulator, and a modified positioning and sampling device 10 is provided under a jawarm thereof, and the specific structure thereof is as described in the foregoing embodiments, and will not be described herein again. And 8, a receiving end of the air supply system. And 9 is a sample box containing a racket sample. 12 is a milling machine, and 13 is a triangular bench clamp. It can be understood that the receiving end of the air conveying system is a station, the milling machine position is another station, and the ABB manipulator needs to transfer the sample at the air conveying station to the milling machine station. Of course, accurate grasping and accurate placement are achieved during the transfer process.
The positioning and sampling device 10 includes first to third inductive sensors, which are disposed in positions and manners closely related to the shape and characteristics of the inspection line. Corresponding to the process of the inspection line of fig. 2, the positioning and sampling device of fig. 1 uses a dc motor as a motor, and the dc motor is installed below the gripper arm of the robot. A vertical connecting rod is arranged below a shell of the direct current motor, a first induction sensor and a third induction sensor are arranged on the vertical connecting rod, and the upper section of the vertical connecting rod is fixedly connected to the shell of the motor. The third inductive sensor is arranged above the first inductive sensor. And the second inductive sensor is arranged on the baffle between the slip ring and the electromagnet, and the second inductive sensor can sense vertically downwards.
Thus, in the application scenario of fig. 2, after the sample box reaches the station of the pneumatic conveying receiving end and the box cover is opened, the ABB manipulator receives the signal and then transfers to the station, and firstly, the first induction sensor at the bottom is used for scanning and detecting to confirm that the sample box reaches the station. And then the second induction sensor scans downwards to find the tail handle of the racket sample. Then the electromagnet can be aligned to the position of the tail handle. The electromagnet has magnetism after being electrified, and can grab a sample. After the grabbing action is completed, the ABB manipulator rotates to a station of the milling machine, the third induction sensor scans and confirms the position of the position where the sample is to be placed, then the electromagnet possibly needs to rotate under control to properly adjust the position of the sample, and after the adjustment is completed, the electrification is switched off, and the sample is lightly placed in the position where the sample is to be placed. To achieve a light-weight effect, the third inductive sensor should be placed close enough to the electromagnet.
The embodiment of the invention also correspondingly provides a sample positioning and sampling method, which is suitable for the device in the embodiment and the steelmaking detection production line, in particular to a scene in which samples need to be transported at two stations. As shown in fig. 3, the positioning sampling method provided in this embodiment specifically includes:
The robot arm moves to the first station and the first inductive sensor senses and validates the sample cartridge, step 302.
The robot then moves to a second station, step 305.
And step 306, the third induction sensor inducts and identifies the relative difference between the racket sample and the station to be placed.
And 307, driving the electromagnet to rotate by the motor through the slip ring, and adjusting the racket sample to a proper position.
And 308, powering off the electromagnet to accurately put down the racket sample.
In a more detailed example, the invention can be performed as follows:
the first step is as follows: the self-made positioning and sampling device 10 is arranged on an ABB manipulator clamp arm 7 and comprises a direct current motor 1, a rotary sliding ring 2, a circular electromagnet 3, a second induction sensor 4, a third induction sensor 5, a first induction sensor 6, necessary electric wires, screws and other components. The number of the direct current motors 1 is 1, and the direct current voltage is 24V. The number of the rotating slip rings 2 is 1 piece, and the diameter phi is 50 mm. The number of the circular electromagnets 3 is 1, the diameter phi is 40mm, and the load is 24V.
The second step is that: the ABB manipulator 11 receives a command of pneumatically and automatically opening the box cover of the sample box 9 in each process of steelmaking from the receiving end 8 of the pneumatic conveying system.
The third step: the ABB manipulator clamp arm 7 automatically controls the positioning sampling device 10 through program logic statements, the direct current motor 1 starts the first induction sensor 6 to automatically induce and recognize a sample box 9 sample, and racket sample induction recognition confirmation is carried out.
The fourth step: the first induction sensor 4 starts to automatically scan, detect and identify the position of the racket tail handle, and confirms the positioning and identifying position.
The fifth step: the circular electromagnet 3 automatically identifies, positions and aligns to the racket sample surface at the tail handle position interval for sampling.
And a sixth step: and after the ABB manipulator tong arm 7 receives the sampling finishing instruction of the circular electromagnet 3, the position direction of the milling machine 12 is automatically switched.
The seventh step: the third induction sensor 5 automatically scans and induces the position of the lifting platform of the triangular vice 13 to determine whether the racket sample placing position is in a horizontal centering state.
Eighth step: the rotary slip ring 2 automatically and accurately adjusts the placing position of the racket tail handle to be in the direction of the gap of the clamp arms of the triangular clamp 13, so that the triangular clamp 13 can stably clamp a racket sample, and meanwhile, the problems that the triangular clamp 13 cannot be clamped tightly or is clamped to fly and the like are effectively solved.
Through the steps, the manipulator positioning sampling and lofting method for the ball sample in the sample box effectively solves the problems that the ball sample in each steel-making process is conveyed to a laboratory manipulator system through an air conveying system to prepare the sample, the tail handle of the ball sample is automatically and accurately positioned, and the triangular bench clamp of a milling machine is accurately placed, and the ball sample milling quality and the detection timeliness rate are improved. Meanwhile, the automatic identification, accurate positioning, sampling and lofting technology similar to the mechanical arm is upgraded, and the automatic identification, accurate positioning, sampling and lofting method has certain reference and application values.
In summary, the above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims. As mentioned above, the present invention can be further modified and several modifications and refinements without departing from the principle of the present device should be considered as the protection scope of the present invention.
Claims (10)
1. A positioning and sampling device for a robot, comprising: the device comprises a motor, a slip ring, an electromagnet, a first induction sensor, a second induction sensor and a third induction sensor;
the motor is connected with the slip ring, the slip ring is connected with the electromagnet, and the motor can drive the slip ring and the electromagnet to rotate; the motor and the first to third induction sensors are electrically connected with a main control module of the manipulator, the electromagnet is electrically connected with the motor and the main control module of the manipulator through the slip ring, and the motor, the slip ring, the electromagnet and the first to third induction sensors work cooperatively under the control of the main control module;
the first induction sensor is used for inducing the sample box with the box cover opened to reach a first station;
the second induction sensor is used for inducing the position of the tail handle of the racket sample so that the main control module can align the electromagnet to the position of the tail handle;
the electromagnet is used for generating magnetism by electrifying under the control of the main control module so as to grab a racket sample;
the third induction sensor is used for identifying the relative difference between the racket sample and the station to be placed after the manipulator rotates to the second station;
the motor is used for rotating the electromagnet to a proper position according to the relative difference under the control of the main control module;
the electromagnet is also used for being powered off under the control of the main control module so as to accurately place the racket sample into the station to be placed.
2. The positioning and sampling device for the robot hand according to claim 1, wherein the motor is a direct current motor.
3. The positioning and sampling device for the robot hand according to claim 1 or 2, wherein the motor is installed below a jawarm of the robot hand.
4. The positioning and sampling device for the robot hand according to claim 3, wherein the first and third inductive sensors are mounted on a vertical connecting rod, and an upper section of the vertical connecting rod is fixedly connected to a housing of the motor.
5. The positioning and sampling device for the robot hand according to claim 4, wherein the third induction sensor is installed above the first induction sensor.
6. The positioning and sampling device for the robot hand according to claim 3, wherein the second induction sensor is installed on a baffle between the slip ring and the electromagnet.
7. The positioning and sampling device for the robot hand according to claim 1, wherein the first to third induction sensors are photoelectric sensors, scanning sensors or image sensors.
8. A positioning sampling method applied to the positioning sampling device of claim 1, comprising:
the sample box arrives at the first station, and the box cover is opened;
the manipulator rotates to a first station, and the sample box is sensed and confirmed by the first induction sensor;
the second induction sensor induces the position of the tail handle of the racket sample;
the electromagnet is aligned to the position of the tail handle and is electrified to grab a racket-like sample;
the manipulator rotates to a second station;
a third induction sensor is used for inducing and identifying the relative difference between the racket sample and the station to be placed;
the motor drives the electromagnet to rotate through the slip ring, and the racket sample is adjusted to a proper position;
the electromagnet is powered off to accurately put down the racket sample.
9. The method of claim 8, wherein the first station is a station where a pneumatic system is engaged with a robot.
10. The method of claim 8, wherein the second station is a station where the manipulator engages with a milling machine, and the position where the racket-like sample is to be placed is a jaw gap of a triangular vice on the milling machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044258.1A CN112857871A (en) | 2021-01-13 | 2021-01-13 | Positioning and sampling device and method for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110044258.1A CN112857871A (en) | 2021-01-13 | 2021-01-13 | Positioning and sampling device and method for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112857871A true CN112857871A (en) | 2021-05-28 |
Family
ID=76003552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110044258.1A Pending CN112857871A (en) | 2021-01-13 | 2021-01-13 | Positioning and sampling device and method for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112857871A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113607655A (en) * | 2021-08-03 | 2021-11-05 | 广东韶钢松山股份有限公司 | Online automatic detection method for nitrogen content in steel |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090289591A1 (en) * | 2006-03-03 | 2009-11-26 | Kristian Kassow | Programmable robot and user interface |
| CN201532392U (en) * | 2009-01-23 | 2010-07-21 | 宁波钢铁有限公司 | Automatic long-distance conveying and preparation system of steel sample |
| CN203069605U (en) * | 2012-11-21 | 2013-07-17 | 上海梅山钢铁股份有限公司 | Sample locating device of steel-making full-automatic assay system |
| US20170028550A1 (en) * | 2013-11-28 | 2017-02-02 | Mitsubishi Electric Corporation | Robot system and control method for robot system |
| CN108127644A (en) * | 2017-12-31 | 2018-06-08 | 柳州福能机器人开发有限公司 | Intelligent mobile transfer robot and its method of work |
| CN208166031U (en) * | 2018-04-12 | 2018-11-30 | 苏州菱麦自动化设备科技有限公司 | Electronic chip laminating apparatus |
| CN208531670U (en) * | 2018-07-16 | 2019-02-22 | 佛山市赛鸽机器人智能科技有限公司 | A kind of blowing mechanical arm of robot device |
| CN109604466A (en) * | 2018-12-21 | 2019-04-12 | 岚士智能科技(上海)有限公司 | A kind of the stamping parts feeding robot and charging method of view-based access control model identification |
| CN208772822U (en) * | 2018-08-15 | 2019-04-23 | 乔山健身器材（上海）有限公司 | A kind of magnetic-type clamping automatic soldering device |
| CN208773570U (en) * | 2018-09-07 | 2019-04-23 | 刘逸麟 | It is a kind of can 360 degree rotation mechanical arm |
| CN210533819U (en) * | 2019-07-30 | 2020-05-15 | 海南速易检测技术研究院有限公司 | Automatic multi-functional high flux food system appearance equipment |
| CN111323254A (en) * | 2020-03-22 | 2020-06-23 | 广东韶钢松山股份有限公司 | Scrap collecting device and method for steel sample |
| CN211306327U (en) * | 2019-11-29 | 2020-08-21 | 浙江理工大学 | Two-axis Rubik's Cube Robot |
| CN211685914U (en) * | 2019-12-30 | 2020-10-16 | 安徽磐峰防护用品有限公司 | Automatic baling equipment of finished product |
| CN111880500A (en) * | 2020-07-29 | 2020-11-03 | 广东韶钢松山股份有限公司 | Steelmaking sample processing method and device based on processing system and processing system |
-
2021
- 2021-01-13 CN CN202110044258.1A patent/CN112857871A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090289591A1 (en) * | 2006-03-03 | 2009-11-26 | Kristian Kassow | Programmable robot and user interface |
| CN201532392U (en) * | 2009-01-23 | 2010-07-21 | 宁波钢铁有限公司 | Automatic long-distance conveying and preparation system of steel sample |
| CN203069605U (en) * | 2012-11-21 | 2013-07-17 | 上海梅山钢铁股份有限公司 | Sample locating device of steel-making full-automatic assay system |
| US20170028550A1 (en) * | 2013-11-28 | 2017-02-02 | Mitsubishi Electric Corporation | Robot system and control method for robot system |
| CN108127644A (en) * | 2017-12-31 | 2018-06-08 | 柳州福能机器人开发有限公司 | Intelligent mobile transfer robot and its method of work |
| CN208166031U (en) * | 2018-04-12 | 2018-11-30 | 苏州菱麦自动化设备科技有限公司 | Electronic chip laminating apparatus |
| CN208531670U (en) * | 2018-07-16 | 2019-02-22 | 佛山市赛鸽机器人智能科技有限公司 | A kind of blowing mechanical arm of robot device |
| CN208772822U (en) * | 2018-08-15 | 2019-04-23 | 乔山健身器材（上海）有限公司 | A kind of magnetic-type clamping automatic soldering device |
| CN208773570U (en) * | 2018-09-07 | 2019-04-23 | 刘逸麟 | It is a kind of can 360 degree rotation mechanical arm |
| CN109604466A (en) * | 2018-12-21 | 2019-04-12 | 岚士智能科技(上海)有限公司 | A kind of the stamping parts feeding robot and charging method of view-based access control model identification |
| CN210533819U (en) * | 2019-07-30 | 2020-05-15 | 海南速易检测技术研究院有限公司 | Automatic multi-functional high flux food system appearance equipment |
| CN211306327U (en) * | 2019-11-29 | 2020-08-21 | 浙江理工大学 | Two-axis Rubik's Cube Robot |
| CN211685914U (en) * | 2019-12-30 | 2020-10-16 | 安徽磐峰防护用品有限公司 | Automatic baling equipment of finished product |
| CN111323254A (en) * | 2020-03-22 | 2020-06-23 | 广东韶钢松山股份有限公司 | Scrap collecting device and method for steel sample |
| CN111880500A (en) * | 2020-07-29 | 2020-11-03 | 广东韶钢松山股份有限公司 | Steelmaking sample processing method and device based on processing system and processing system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113607655A (en) * | 2021-08-03 | 2021-11-05 | 广东韶钢松山股份有限公司 | Online automatic detection method for nitrogen content in steel |
| CN113607655B (en) * | 2021-08-03 | 2024-07-09 | 广东韶钢松山股份有限公司 | Online automatic detection method for nitrogen content in steel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5468270B2 (en) | Empty case suspension device for pole transformer | |
| CN203899959U (en) | Automatic barcode reader | |
| CN203792158U (en) | Deoiling machine-flat-stone mill automation trussed robot | |
| CN108284360A (en) | A kind of polishing grinding workpieces system of processing | |
| CN207771466U (en) | Polishing grinding workpieces system of processing | |
| CN206194525U (en) | Automatic equipment of bending of inductance coils | |
| CN110391721B (en) | Feeding and discharging method for straight bar stator core winding machine | |
| CN112857871A (en) | Positioning and sampling device and method for manipulator | |
| CN108161393A (en) | A kind of motor module Transport loading ＆ unloading system | |
| CN111070197A (en) | Automatic clamp, automatic grabbing device, mechanical arm and robot | |
| CN107826678A (en) | A kind of feeding device with CCD detection adjustment functions | |
| CN112265700A (en) | Sheet metal part blanking and boxing system and control method thereof | |
| CN109748088B (en) | Automatic positioning and feeding mechanism for iron core and control method thereof | |
| CN207908532U (en) | Automatic multi-party level detection apparatus | |
| CN114509340A (en) | Automatic sample loading system and method for composite material mechanics test | |
| CN217942663U (en) | Tool robot gripper device | |
| US11865661B2 (en) | Device for loading and unloading and for operating a machine vise | |
| CN114102490A (en) | A pusher for oblique cantilever assembly | |
| CN212291928U (en) | A kind of anode hanger hanging equipment | |
| CN212576889U (en) | Full-automatic sleeve detection system | |
| CN111573258B (en) | Manipulator feeding and discharging alignment system and method | |
| CN210360261U (en) | Motor frequency conversion board processing line body | |
| CN208254527U (en) | inner hole automatic detecting machine | |
| CN114749922A (en) | A kind of intelligent manufacturing, processing and assembly automation control system and method | |
| CN217769807U (en) | Micromotor rotor angle identification structure of automatic magnetizing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210528 |