CN101806612A - Automatic handing system of weight and application thereof - Google Patents
Automatic handing system of weight and application thereof Download PDFInfo
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- CN101806612A CN101806612A CN201010105973A CN201010105973A CN101806612A CN 101806612 A CN101806612 A CN 101806612A CN 201010105973 A CN201010105973 A CN 201010105973A CN 201010105973 A CN201010105973 A CN 201010105973A CN 101806612 A CN101806612 A CN 101806612A
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Abstract
The invention belongs to the field of weighing apparatus metering, relating to an automatic handing device of a three-dimensional weight in quality measurement. The invention discloses an automatic handing system of weight and application thereof. The system comprises the weight, a power control part, a sliding assembly, a flexible assembly and a mechanical arm, wherein the sliding assembly and the flexible assembly are matched to operate under the driving of the power control component so as to control the mechanical arm to transport the weight. The automatic handing system of a three-dimensional weight in high-accuracy quality measurement provided by the invention can conveniently and automatically transport and load cylindrical weight, has compact structure, small occupation space, high transportation and loading speed and high working efficiency, and can automatically adjust speed and realize no-impact loading, thereby bringing great convenience for operating staff to operate, saving manpower.
Description
Technical field
The invention belongs to the weighing apparatus metering field, relate to the automatic handing system of weight of using in a kind of mass measurement, especially for the counterweight Handling device that uses on the 20-100 kilogram counterweight pin-point accuracy mass metrology parameter measurement experiment table.
Background technology
In counterweight mass metrology parameter measurement experiment, need measure mass metrology parameters such as the quality of counterweight, magnetic, whether meet requirement in JJG96-2004 " counterweight " the national verification rules to pass judgment on this counterweight.In experiment, counterweight need be removed usually to the quality comparator and Magnetic Measurement device of its quality matches on.And the measurement of the 20-100 kilogram counterweight of pin-point accuracy grade is had relatively high expectations to surrounding environment, need measure under constant temperature, the wet condition of weighing apparatus, can not adopt lifting appliances such as the electric hoist that adopts in the weight measurement of low accuracy grade or crane to carry.At present, still be not specifically designed to the equipment of moving counterweight in the pin-point accuracy 20-100 kilogram counterweight mass metrology parameter measurement experiment.In experiment, the staff can only adopt the mode of a dead lift, for the counterweight more than 50 kilograms, even need many people to participate in carrying, to workload is increased, personnel labor intensity strengthens, the work period lengthening, and in case the situation that counterweight comes off accidentally takes place, the situation that also may cause personal injury and counterweight to damage even scrap.
And, need to carry the E that stipulates among the international recommendation OIML R111 that is of loading in the pin-point accuracy mass measurement
1, E
2The grade counterweight, i.e. the counterweight of cylindrical shape, it is not suitable for the structural design of manually moving, and for 20 kilograms and above counterweight, owing to can't mention by one hand, a dead lift is difficulty very.
Summary of the invention
At above prior art, the present invention proposes the three-dimensional automatic handing system of weight in a kind of pin-point accuracy mass measurement, not only can easily realize the counterweight of automatic carrying, loading cylindrical shape, and compact conformation, it is little to take up room, carrying, loading velocity is fast, and governing speed can realize not having the loading of impact automatically, greatly facilitates staff's operation, saved manpower, high efficiency.
The technical solution used in the present invention is as follows:
A kind of automatic handing system of weight is used for described counterweight is carried automatically along the three-dimensional direction.Described system comprises counterweight and power control parts.Also comprise slide assemblies, telescopic component and mechanical arm; Described slide assemblies and telescopic component be compounding practice under described power control parts drive, and controls described mechanical arm and carries described counterweight;
Described slide assemblies comprises slide rail set and matable assembly thereof; At least the cross track that comprises a pair of X axis in the described slide rail set; Also comprise at least in the described slide rail set Y-axis to short track; The matable assembly of described short track is a pulley blocks; Described short track is slidingly arranged in the middle of described two parallel cross tracks by described pulley blocks.
In a kind of example structure of the present invention, described slide assemblies comprise a Y-axis to short track, and be arranged in the described cross track by described pulley blocks at described these short track two ends; Described telescopic component one end is arranged in the described short track; Described mechanical arm is fixedly installed on the other end of telescopic component.
In the another kind of example structure of the present invention, described slide assemblies comprise two Y-axis to short track, and be set in parallel in the described cross track by described pulley blocks respectively at described these two short track two ends; Be provided with a stripe board in the slip in short track of described two Y-axis; Described telescopic component one end is fixedly installed on the described stripe board; Described mechanical arm is fixedly installed on the other end of telescopic component.
The present invention is in order to realize moving up and down of Z axle, and described telescopic component comprises a flexible mechanical arm at least; Described flexible mechanical arm comprises one group of expansion link, and described mechanical arm is fixed on the terminal expansion link; Described each expansion link is provided with position transducer; Described each expansion link overlaps successively from bottom to top by stretching structure and contracts, and controls described mechanical arm and moves along Z-direction.Described flexible mechanical arm comprises 2-6 root expansion link.
A kind of embodiment of the stretching structure that the present invention realized is: the stretching structure on the described expansion link adopts the socket of T shape: be provided with the groove slideway at high one deck expansion link front surface, one deck expansion link back correspondence position is provided with adaptive T shape projection joining down.
The present invention is in order to reach and to realize that pinpoint accuracy moves, and free of losses is carried, and described mechanical arm is provided with one group of comb shape tooth, and each is enclosed with rubber strip above the comb shape tooth, each comb shape tooth depth 8-12mm, and tooth pitch is 8-12mm, one group of comb shape tooth comprises 6-12.
Match with described comb shape tooth operation also comprises a counterweight holder, and is provided with support at described counterweight backing end; Counterweight is placed in the counterweight holder.Described counterweight holder is the holder of comb shape counterweight, and the exterior contour of described comb shape counterweight holder is a kind of in circle or the quadrilateral; The comb shape counterweight holder diameter or the length of side are 300-400mm; And the high 18-20mm of every grid section of described comb shape counterweight holder, spacing is 8-12mm.
The present invention is in order to realize the motion of each parts in the automatic drive, and described power control parts comprise servomotor and Programmable Logic Controller (PLC controller);
The described position transducer that is arranged on each expansion link is electrically connected with the PLC controller, is used for signal is inputed to described PLC controller the motion of contracting of the cover of PLC controller control expansion link.The motion of PLC controller control expansion link, also control motor finish X axis, Y-axis to motion because there is corresponding detailed description relevant driving aspect in the X axis, Y-motion prior art.
At first automatic handing system is arranged in the laboratory of power supply (220V, 50Hz single-phase alternating current or 380V, 50Hz three-phase alternating current), open the power switch on the equipment, make PLC controller, sensor and servomotor be in normal duty, PLC controller control servomotor rotates according to the program of setting, the motion thereby the cover of drive expansion link contracts.
The present invention is in order to realize mass ratio and the measurement of magnetic, and described automatic handing system also comprises quality comparator, Magnetic Measurement device; And be provided with the holder of comb shape counterweight on described quality comparator, the Magnetic Measurement device upper surface; By described stretching structure, slide assemblies and mechanical arm are measured above the break-even comb shape counterweight holder that is transported to described quality comparator, Magnetic Measurement device of described counterweight.
In order to realize the fixing of slide assemblies, described system also includes the framed structure of a rectangular shape, described counterweight, and the power control parts, quality comparator, Magnetic Measurement device, slide assemblies, telescopic component and mechanical arm all are arranged in the framed structure; The cross track of two X axis in the described slide assemblies is separately positioned on two long limits of described framework upper.Each supporting leg of described framework adopts foot bolt to be connected with ground, and framework adopts aluminum alloy materials or hard moulding material.
Said system of the present invention is used in pin-point accuracy counterweight mass metrology parameter measurement experiment, and especially described system applies is in the parameter measurement of 20-100 kilogram counterweight pin-point accuracy mass metrology.
The present invention proposes the three-dimensional automatic handing system of weight in a kind of pin-point accuracy mass measurement, not only can easily realize the counterweight of automatic carrying, loading cylindrical shape, and compact conformation, it is little to take up room, and carrying, loading velocity is fast, and governing speed automatically, can realize not having impacting and load, greatly facilitate staff's operation, saved manpower, high efficiency.
In the technical program, mechanical arm is removable, adopts removable mechanical arm, can change the mechanical arm of corresponding specification according to the quality of counterweight to be measured, realizes that the counterweight carrying of various quality loads.
The mechanical arm front end has a plurality of comb shape teeth, and each all has rubber strip above the comb shape tooth, can prevent that the counterweight bottom from scratching.Mechanical arm is a comb shape, cooperates the holder of comb shape counterweight again, can realize the not damaged carrying to specified standard shape counterweight among the international recommendation OIML R111.
The supporting leg of framework adopts foot bolt to be connected with ground, can adopt aluminum alloy materials.Because framework adopts aluminum alloy materials, is satisfying under the situation of requirement of strength, framework is lighter, and does not have magnetic interference, can not influence the measurement of magnetic parameter.Adopt X, Y coordinate track, can make mechanical arm reach any position in the frame plane space.Because the height that mass measurement equipment itself adds top base promptly has 1.8m approximately, adopt flexible mechanical arm, can be implemented in counterweight carrying and loading in the testing laboratory of 3m and following height.Adopt the PLC controller to cooperate with AC servo motor, can accurately control level, the vertical movement speed of mechanical arm, can control experimental period, especially in vertical movement, speed accurately can be slowed down when starting and stopping, guarantee that counterweight is unlikely to come off out from mechanical arm, adjustable loading velocity can not impact to counterweight, does not damage counterweight.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the present invention.Fig. 2 is the structural representation of telescopic arm among the present invention;
Fig. 3 is the section of structure of expansion link junction among the present invention.
Above-mentioned each width of cloth accompanying drawing will be illustrated in conjunction with embodiment.
Wherein, the 1-framed structure, four supporting legs of 2-framework, 3-foot bolt, 4-cross track, the short track of 5-, the 6-stripe board, 7-expansion link, 701-the 1st expansion link, 702-the 2nd expansion link, 703-the 3rd Metallic rod, the 8-position transducer, 801-the 1st position transducer, 802-the 2nd position transducer, 803-the 3rd position transducer.The T shape projection of upper end, 702a-the 2nd expansion link back side, the chute of 702b-the 2nd expansion link front, the chute of 703b-the 3rd expansion link front, the 9-mechanical arm, 10-comb shape tooth, the holder of 11-comb shape counterweight, 12-quality comparator, 13-Magnetic Measurement device, the 14-grid section, 15-support, 16-counterweight, the 17-PLC controller, the 18-servomotor.
Embodiment
In concrete enforcement, a kind of embodiment that the present invention taked is, adopts aluminum alloy materials to make up the framed structure 1 of a rectangular shape, and its specification is 3.5m*1.5m*2.8m, four supporting legs 2 of framework are fixed by foot bolt 3 and ground, to reach firm effect.On two long limits of framework upper, a cross track 4 is arranged respectively, the long short track 5 perpendicular to the 1.5m on the long track is arranged on two long limit tracks, article two, the distance of lacking between the track 5 is 400mm, all there is pulley on short track both sides in cross track 4, make transversely parallel the moving of bearing of trend of track 4 of short track 5.Article two, lacking has one perpendicular to the long stripe board 6 of the 400mm of short track 5 on the track 5, there is pulley at stripe board 6 two ends in short track 5, and stripe board 6 can be moved along the bearing of trend of short track 5.A flexible mechanical arm is fixed at stripe board 5 middle parts, flexible mechanical arm is made up of three sections telescopic Metallic rod 7 in the part of stripe board below 5, be respectively the 1st Metallic rod the 701, the 2nd Metallic rod the 702, the 3rd Metallic rod 703, the every long 300mm of Metallic rod, a position transducer 8 is arranged at each Metallic rod top, is respectively the 1st position transducer the 801, the 2nd position transducer the 802, the 3rd position transducer 803.The 3rd Metallic rod top directly is fixed on stripe board 6 lower ends, and the 3rd Metallic rod maintains static, 1st, there are integrated T shape projection 701a, 702a in upper end, the 2nd Metallic rod back side, 2nd, there are integrated chute 702b, 703c in the 3rd Metallic rod front, and the 1st, the 2nd T shape projection can be slided in the chute of the 2nd, the 3rd Metallic rod front respectively.Fix a mechanical arm 9 below the 1st Metallic rod, the mechanical arm front end is a comb shape, and a plurality of comb shape teeth 10 are arranged, each comb shape tooth depth 10mm, and tooth pitch is 10mm.The difference of Ban Yun counterweight weight classes as required can be changed the mechanical arm of different size, and the specification of mechanical arm 9 is distinguished with the number of comb shape tooth, and the mechanical arm comb shape number of teeth amount that the counterweight that weight classes is high is more selected for use is many more.The supporting holder 11 of comb shape counterweight and quality comparator 12 and the Magnetic Measurement device 13 of being provided with on the experiment table of counterweight mass metrology parameter measurement, quality comparator 12 or Magnetic Measurement device 13 tops are comb shape.
The circle that the holder 11 of comb shape counterweight is made up of grid section 14, round diameter is about the circle of 350mm, and support 15 is arranged at grid section 14 bottoms, and grid section 14 is fixed on the support 15, grid section 14 high 20mm, spacing is 10mm.
In the time of work, utilize PLC controller control device 17 and AC servo motor 18, driving device hand 9 is along X, Y, three coordinate direction motions of Z, comb shape tooth 10 intersections of mechanical arm 9 fronts are passed the grid section 14 of weight tray, reach below the position that is lower than edge, counterweight 16 base, move to the positive lower end of counterweight then, lift counterweight 16 again, controller is controlled the 1st of flexible mechanical arm then, 2,3 Metallic rod, the T shape projection at the 1st Metallic rod back is slided in the groove slideway of the 2nd Metallic rod front portion, the 1st Metallic rod contracted to the 2nd Metallic rod, if still do not reach the carrying height fully after the 2nd Metallic rod of retraction, may command includes the 2nd Metallic rod of the 1st Metallic rod, the T shape projection at its back is slided, in the groove slideway of the 3rd Metallic rod front portion in being fully retracted the 3rd Metallic rod.After making counterweight 16 be promoted to predetermined altitude, make flexible mechanical arm utilize long and short track in frame space, to move, on corresponding quality comparator 12 or Magnetic Measurement device 13, counterweight 16 is placed on the surveying instrument.
Technique scheme is one embodiment of the present invention, for those skilled in the art, on the basis that the invention discloses application process and principle, be easy to make various types of improvement or distortion, and be not limited only to the described method of the above-mentioned embodiment of the present invention, therefore previously described mode is a specific embodiment, and does not have restrictive meaning.
Claims (12)
1. automatic handing system of weight, described system comprises counterweight and power control parts;
It is characterized in that system carries described counterweight automatically along the three-dimensional direction; Described system also comprises: slide assemblies, telescopic component and mechanical arm; Described slide assemblies and telescopic component be compounding practice under described power control parts drive, and controls described mechanical arm and carries described counterweight;
Described slide assemblies comprises slide rail set and matable assembly thereof; At least the cross track that comprises a pair of X axis in the described slide rail set; Also comprise at least in the described slide rail set Y-axis to short track; The matable assembly of described short track is a pulley blocks; Described short track is slidingly arranged in the middle of described two parallel cross tracks by described pulley blocks.
2. a kind of automatic handing system of weight according to claim 1 is characterized in that,
Described slide assemblies comprise a Y-axis to short track, and be arranged in the described cross track by described pulley blocks at described these short track two ends; Described telescopic component one end is arranged in the described short track; Described mechanical arm is fixedly installed on the other end of telescopic component.
3. a kind of automatic handing system of weight according to claim 1 is characterized in that,
Described slide assemblies comprise two Y-axis to short track, and be set in parallel in the described cross track by described pulley blocks respectively at described these two short track two ends; Be provided with a stripe board in the slip in short track of described two Y-axis; Described telescopic component one end is fixedly installed on the described stripe board; Described mechanical arm is fixedly installed on the other end of telescopic component.
4. according to the described a kind of automatic handing system of weight of one of claim 1-3, it is characterized in that,
Described telescopic component comprises a flexible mechanical arm at least; Described flexible mechanical arm comprises one group of expansion link, and described mechanical arm is fixed on the terminal expansion link; Described each expansion link is provided with position transducer; Described each expansion link overlaps successively from bottom to top by stretching structure and contracts, and controls described mechanical arm and moves along Z-direction.
5. a kind of automatic handing system of weight according to claim 4 is characterized in that,
Stretching structure on the described expansion link adopts the socket of T shape: be provided with the groove slideway at high one deck expansion link front surface, one deck expansion link back correspondence position is provided with adaptive T shape projection joining down;
Described flexible mechanical arm comprises 2-6 root expansion link.
6. according to claim 4 or 5 described a kind of automatic handing system of weight, it is characterized in that,
Described flexible mechanical arm comprises 3 expansion links.
7. according to the described a kind of automatic handing system of weight of one of claim 1-3, it is characterized in that,
Described mechanical arm is provided with one group of comb shape tooth, and each is enclosed with rubber strip above the comb shape tooth, each comb shape tooth depth 8-12mm, and tooth pitch is 8-12mm, one group of comb shape tooth comprises 6-12.
8. a kind of automatic handing system of weight according to claim 1 is characterized in that,
Described counterweight also comprises a counterweight holder, and is provided with support at described counterweight backing end;
Described power control parts comprise servomotor and Programmable Logic Controller;
The described position transducer that is arranged on each expansion link is electrically connected with Programmable Logic Controller, is used for signal is inputed to described Programmable Logic Controller the motion of contracting of the cover of Controlled by Programmable Controller expansion link.
9. according to claim 1 or 7 described a kind of automatic handing system of weight, it is characterized in that,
Described counterweight holder is the holder of comb shape counterweight, and the exterior contour of described comb shape counterweight holder is a kind of in circle or the quadrilateral; The comb shape counterweight holder diameter or the length of side are 300-400mm; And the high 18-20mm of every grid section of described comb shape counterweight holder, spacing is 8-12mm.
10. according to claim 7 or 9 described a kind of automatic handing system of weight, it is characterized in that,
Each comb shape tooth depth 10mm, tooth pitch is 10mm;
The high 20mm of grid section, spacing is 10mm.
11. a kind of automatic handing system of weight according to claim 1 is characterized in that,
Described automatic handing system also comprises quality comparator, Magnetic Measurement device; And be provided with the holder of comb shape counterweight on described quality comparator, the Magnetic Measurement device upper surface;
Described system also includes the framed structure of a rectangular shape, described counterweight, and the power control parts, quality comparator, Magnetic Measurement device, slide assemblies, telescopic component and mechanical arm all are arranged in the framed structure; The cross track of two X axis in the described slide assemblies is separately positioned on two long limits of described framework upper; Each supporting leg of described framework adopts foot bolt to be connected with ground, and framework adopts aluminum alloy materials or hard moulding material.
12. the application as system as described in one of claim 1-9 is characterized in that described system applies is in the parameter measurement of 20-100 kilogram counterweight pin-point accuracy mass metrology.
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| CN2010101059733A CN101806612B (en) | 2010-02-05 | 2010-02-05 | Automatic handing system of weight and application thereof |
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| CN2010101059733A CN101806612B (en) | 2010-02-05 | 2010-02-05 | Automatic handing system of weight and application thereof |
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| CN113574006A (en) * | 2019-03-27 | 2021-10-29 | 株式会社多田野 | Crane control method and crane |
| CN110160817A (en) * | 2019-06-19 | 2019-08-23 | 江苏省特种设备安全监督检验研究院 | Electric block tests reinforcement poise system and its application method |
| CN110160817B (en) * | 2019-06-19 | 2024-04-16 | 江苏省特种设备安全监督检验研究院 | Boosting weight system for electric hoist test and use method thereof |
| CN110530493A (en) * | 2019-09-26 | 2019-12-03 | 柯钢 | A kind of counterweight handling gripper of anti-dropout |
| CN110530493B (en) * | 2019-09-26 | 2024-04-12 | 柯钢 | Anti-drop's weight transport anchor clamps |
| CN111076785A (en) * | 2019-12-09 | 2020-04-28 | 陕西省计量科学研究院 | Weight volume measuring device |
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| CN101806612B (en) | 2011-08-31 |
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