CN110816954B - Online weight detection device with spider mobile phone mechanical arm - Google Patents
Online weight detection device with spider mobile phone mechanical arm Download PDFInfo
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- CN110816954B CN110816954B CN202010030219.1A CN202010030219A CN110816954B CN 110816954 B CN110816954 B CN 110816954B CN 202010030219 A CN202010030219 A CN 202010030219A CN 110816954 B CN110816954 B CN 110816954B
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- 241000239290 Araneae Species 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000005303 weighing Methods 0.000 claims abstract description 116
- 238000000605 extraction Methods 0.000 claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 32
- 229910052742 iron Inorganic materials 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 15
- 238000013461 design Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 238000012856 packing Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 6
- 239000011521 glass Substances 0.000 description 6
- 238000004806 packaging method and process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 210000004027 cell Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000004447 spiderweb cell Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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Abstract
The invention belongs to the technical field of workpiece weighing, and particularly discloses an online weight detection device with a spider mobile manipulator, which comprises the spider mobile manipulator, wherein a grabbing and weighing mechanism is arranged at the bottom end of the spider mobile manipulator, a visual identification head is arranged on one side of the grabbing and weighing mechanism, and a vacuum extraction mechanism is connected to one side of the grabbing and weighing mechanism. Making the handling of the flats after production more rapid and efficient.
Description
Technical Field
The invention relates to the technical field of workpiece weighing, in particular to an online weight detection device with a spider mobile mechanical arm.
Background
In the industrial production process, in order to ensure the qualification rate of the produced workpieces, the workpieces after production need to be weighed, and the production of flat parts, because of light weight and small volume, the flat pieces are troublesome to weigh, the flat pieces which are randomly placed need to be placed orderly, then the flat pieces are weighed by a weighing device in turn, and the quality of the flat pieces needs to be judged and packaged after weighing, the time for weighing the flat piece is long, the efficiency is low, the precise control between weighing and transmission is needed to be realized, the operation is complicated, if the on-line weighing can be realized in the flat piece packaging process, the weighing and packaging efficiency of the flat piece can be greatly improved, the production period can be shortened, the labor cost can be reduced, therefore, an online weight detecting device with a spider mobile manipulator is urgently needed to solve the problems.
Disclosure of Invention
The invention aims to provide an online weight detection device with a spider mobile manipulator, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the on-line weight detection device with the spider-web mobile manipulator comprises the spider-web mobile manipulator, wherein a grabbing and weighing mechanism is installed at the bottom end of the spider-web mobile manipulator and is used for grabbing flat pieces on a transmission belt, weighing the weight of the flat piece while grabbing, judging whether the flat piece is qualified or not, putting the flat piece into a corresponding packaging box, a visual identification head is arranged on one side of the grabbing and weighing mechanism and used for identifying the flat pieces which are randomly placed on the conveying belt and positioning the positions of the flat pieces by using a coding positioner, one side of the grabbing and weighing mechanism is also connected with a vacuum extraction mechanism which is used for vacuumizing the grabbing and weighing mechanism so as to grab the flat piece on the conveying belt, the weight detection device is intelligently controlled through the controller, and the output end of the visual recognition head is electrically connected with the input end of the controller.
According to the preferable technical scheme, the spider-web manipulator mechanical arm comprises a fixing plate, an adjusting rod and a grabbing plate;
the device comprises a fixed plate, a mounting seat, a grabbing plate, a cylinder and a control device, wherein the mounting seat is fixedly mounted in the middle of the top end of the fixed plate and used for fixedly mounting the whole online weight detection device so that the whole online weight detection device can stably work;
the grabbing and weighing mechanism comprises a weighing table, a claw-shaped seat, a weighing plate and a grabbing sucker;
a weighing platform is fixedly arranged below the grabbing plate through a fixing rod, the fixing rod is positioned at the edge of the weighing platform, a weighing sensor is arranged on the upper surface of the weighing platform, the output end of the weighing sensor is electrically connected with the input end of the controller, the weighing sensor is used for measuring the weight of the flat piece, a claw-shaped seat is arranged on the upper surface of the weighing sensor, a weighing disc is arranged on the lower surface of the weighing platform, the weighing disc is fixedly connected with the claw-shaped seat, the weighing disc and the grabbed flat piece can act on the weighing sensor, so that the weight of the flat piece can be measured, a grabbing sucker is fixedly arranged below the weighing disc, and the grabbing sucker is used for grabbing the flat piece;
the vacuum extraction mechanism comprises a vacuum tank, a vacuum pump, a first air extraction hose and a second air extraction hose;
the utility model discloses a spider mobile manipulator, including spider mobile manipulator arm, vacuum tank, vacuum hose, vacuum pump, vacuum tank and vacuum pump, the vacuum tank is installed to spider mobile manipulator arm one side, the vacuum tank is used for carrying out the evacuation to snatching the sucking disc, replaces original mode that utilizes the vacuum pump directly to carry out the evacuation for it is faster to snatch the speed of sucking disc evacuation, and efficiency is higher, the vacuum tank with snatch between the sucking disc through the hose that bleeds one and be connected, the vacuum tank can be through the first air evacuation that will snatch the sucking disc inside, realize snatching the flat piece, be connected through the hose two that bleed between vacuum tank and the vacuum pump, the vacuum pump is used.
As a preferred technical scheme, the adjusting rod comprises an adjusting motor, a rotating rod, a connecting rod and a universal joint;
the utility model discloses a spider cell phone arm, including fixed plate, regulation motor, dwang, cylinder, connecting rod, regulation motor output shaft, regulation motor output shaft, dwang, cylinder and the board of grabbing, the regulation motor is installed to fixed plate lower surface limit portion, the input of the output electric connection regulation motor of controller realizes the control to the regulation motor, fixed mounting has the dwang on the regulation motor output shaft, the dwang is used for realizing the angle of rotation's to spider cell phone arm regulation, dwang one end articulates there is the connecting rod, the rotation of dwang is realized the regulation to the connecting rod, and then realizes adjusting the direction of grabbing weighing machine structure, between cylinder and the fixed plate and cylinder and snatch between the.
As a preferred technical scheme, the grabbing weighing mechanism further comprises a hanging iron column and a hanging permanent magnet;
a plurality of hangs the iron prop is installed to weighing dish upper surface limit portion, grab board lower surface limit portion and correspond and hang iron prop position department and install a plurality of and hang the permanent magnet, hang the permanent magnet and snatch and be connected through the telescopic link between the board, hang the iron prop and hang the design of permanent magnet for when not using online weight detection device, can eliminate the weight of acting on weighing sensor, avoid weighing sensor to be in the pressurized state for a long time, lead to life to reduce.
As a preferred technical scheme, the grabbing sucker comprises a first grabbing cover and a second grabbing cover;
a first grabbing cover is fixedly arranged below the weighing plate and used for grabbing flat pieces with larger surface areas, a second grabbing cover is arranged at the central position inside the first grabbing cover and used for grabbing flat pieces with smaller surface areas than the grabbing area of the first grabbing cover, meanwhile, the flat pieces with through holes in the center can be grabbed, the through holes can be blocked, so that the whole grabbing sucker can smoothly grab the flat pieces with the through holes penetrating through the middle parts, such as bolt gaskets, a first vacuum cavity is formed between the first grabbing cover and the second grabbing cover, a second vacuum cavity is formed in the middle part of the second grabbing cover, the first vacuum cavity and the second vacuum cavity are both used for forming vacuum, so that the flat pieces on the conveying belt are grabbed by using negative pressure, and a first vacuum pumping pipe is arranged at the top end of the first vacuum cavity, and a second vacuum tube is arranged on the side wall of the top end of the second grabbing cover, the first vacuum tube is communicated with the second vacuum tube, and the first vacuum tube and the second vacuum tube are used for vacuumizing the interiors of the first vacuum cavity and the second vacuum cavity.
As a preferred technical scheme, the vacuum extraction mechanism further comprises a first electromagnetic valve, an air release pipe, a second electromagnetic valve and a third electromagnetic valve;
the vacuum pump is characterized in that a first electromagnetic valve is installed at the joint of the first air exhaust hose and the bottom end of the vacuum tank, the circulation direction of the first electromagnetic valve is to grab the sucker to the vacuum tank, the first electromagnetic valve is used for controlling air in the first air exhaust hose to flow from the grab sucker to the vacuum tank, the vacuum degree in the vacuum tank is utilized to realize the vacuumizing of the grab sucker, an air exhaust pipe is connected with the lower end of the first electromagnetic valve and the air exhaust hose in a penetrating manner, the air exhaust pipe is used for conveying outside air into the grab sucker again to realize the release of the grabbed flat piece, a second electromagnetic valve is installed at one end of the air exhaust pipe, the circulation direction of the second electromagnetic valve is from the outside to the first air exhaust hose, the second electromagnetic valve is used for controlling the air inlet time point to realize the release of the flat piece, and a third electromagnetic valve is installed at the, the conduction direction of the third electromagnetic valve is from the vacuum tank to the vacuum pump, the vacuum tank is vacuumized, the vacuum degree inside the vacuum tank is kept, and the output end of the controller is electrically connected with the input ends of the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve.
As a preferred technical scheme, the vacuum tank comprises a U-shaped pipe, a water column and a balance cavity;
the utility model discloses a vacuum degree of vacuum tank, including U type pipe bottom, U type pipe, water column, U type pipe bottom runs through the installation of vacuum tank, U type pipe is located vacuum tank outside one end and is closed the design, U type pipe is used for detecting the inside vacuum of vacuum tank, the inside packing of U type pipe has the water column, U type pipe closed design one end is provided with balanced chamber, balanced chamber is used for balancing with the inside vacuum of vacuum tank, utilizes the distance of water column distance U type pipe closed one end to.
As a preferred technical scheme, the vacuum tank further comprises a first contact, a second contact and a display lamp;
u type socle is provided with first contact, a plurality of second contact is installed to balanced chamber lateral wall equidistance, a plurality of display lamp is installed to the vacuum tank lateral wall, first contact and second contact are used for putting through the power to the display lamp, first contact and power electric connection, the second contact is connected with display lamp electric connection, display lamp and power electric connection utilize the electric conductivity of water column, can make to form the return circuit between first contact, second contact, display lamp and the power, light the display lamp, and then show the inside vacuum of vacuum tank.
As a preferred technical scheme, the cross-sectional area inside the U-shaped pipe is s, the total length of the U-shaped pipe is L, and the length of the U-shaped pipe inside the vacuum tank is L1The length of the U-shaped pipe positioned outside the vacuum tank is L2The volume of the water column is V, the vacuum degree of the balance cavity is Q, the distance between the second contacts is Y, and the distance between the two second contacts is set according to actual requirements;
in an initial state, the vacuum degree in the vacuum tank is Q, and the liquid level heights of water columns of the U-shaped pipe, which are positioned in the vacuum tank, are consistent;
the vacuum degree in the vacuum tank is reduced to Q’When the current is over;
according to the formula:
wherein,
which represents the actual degree of vacuum inside the vacuum tank, s represents the internal cross-sectional area of the U-tube,
the weight of the rising height of the water column is shown, h is one half of the liquid level difference of the two ends of the U-shaped pipe after the liquid level is changed,
after the liquid level is changed, the U-shaped pipe is positioned in the vacuum degree in the vacuum tank;
according to the formula
To obtain:
by substituting the above formula into
To obtain:
when in use
When the water column is in contact with the water column, the lowest contact of the second contact is contacted with the water column, and the first contact and the second contact are conducted to form a circuit;
when in use
When the water column is in contact with the first contact, the first contact is connected with the water column;
when in use
And when the vacuum tank is in vacuum state, the second contact is in contact with the water column from the lower-up third contact, the first contact and the second contact are in circuit conduction, and at the moment, the vacuum pump is required to be utilized to vacuumize the inside of the vacuum tank so as to keep the vacuum degree.
Compared with the prior art, the invention has the beneficial effects that:
1. be provided with and snatch weighing machine structure, utilize the visual identification head to discern the flat on the transmission band, utilize and snatch the sucking disc and snatch it, when snatching, utilize weighing sensor to weigh the flat of snatching, make more fast to weighing of flat, and, after weighing, can be according to whether the quality of flat meets the requirements, put into corresponding packing box with it, the great shortening of whole process is to the time of the weight detection and the packing of flat, make the processing more high efficiency to the flat after the production.
2. Be provided with and snatch the sucking disc, the first cover and the second of snatching of sucking disc are snatched in the utilization, not only simple structure, on the one hand, can neglect the size of flat area and snatch at will, when the flat area is great, can utilize the first cover of snatching to snatch, when the flat area is less than the first cover of snatching and snatchs the area, can utilize the second to snatch the cover and snatch, on the other hand, can snatch the flat of seting up the through-hole to the middle part, it blocks up the through-hole to utilize the second to snatch the cover, utilize first vacuum cavity to snatch the non-through-hole position of flat, make the suitability of.
3. Be provided with vacuum tank, utilize vacuum tank to guarantee vacuum in advance, when needs utilize to snatch the sucking disc and snatch, can utilize the inside vacuum of vacuum tank to provide in the twinkling of an eye and snatch the appeal, and the vacuum pump need start-up, can cost more time for to the efficiency of snatching of flat, the improvement that utilizes vacuum tank can be great is to the efficiency that the flat snatchs.
4. Be provided with the U type pipe, utilize the inside water column of U type pipe and U type pipe, can detect the inside vacuum of vacuum tank to, can utilize the design of first contact and second contact, utilize the electric conductivity of water column, the power of switch-on display lamp makes can more audio-visual understanding the inside vacuum of vacuum tank, makes the start vacuum pump that can be timely extract the inside air of vacuum tank, guarantees the inside vacuum of vacuum tank.
5. Be provided with and hang the iron prop and hang the permanent magnet for when not using detection device, can eliminate the weight of being used in on the weighing sensor, avoid weighing sensor to be in the pressurized state for a long time, life that can effectual extension weighing sensor.
Drawings
FIG. 1 is a schematic structural diagram of an on-line weight detecting device with a spider-web robot arm according to the present invention;
FIG. 2 is a schematic structural diagram of an adjusting rod of the online weight detection device with a spider mobile manipulator of the present invention;
FIG. 3 is a schematic view of an installation structure of a grabbing and weighing mechanism of the online weight detection device with the spider-web mobile manipulator of the invention;
FIG. 4 is a schematic structural diagram of a grabbing and weighing mechanism of the online weight detection device with the spider-web mobile manipulator of the invention;
FIG. 5 is a schematic view of the mounting structure of the weighing sensor of the online weight detecting device with the spider-web phone mechanical arm according to the present invention;
FIG. 6 is a schematic view of an installation structure of a gripping sucker of the online weight detection device with a spider-web phone mechanical arm according to the present invention;
FIG. 7 is a cross-sectional view of a gripping suction cup of the online weight detecting device with a spider-web robot arm of the present invention;
FIG. 8 is a cross-sectional view of the vacuum tank of the on-line weight measuring device with spider mobile robot arm of the present invention;
FIG. 9 is a cross-sectional view of a U-shaped tube of the on-line weight detecting device with a spider-web robot arm according to the present invention.
Fig. 10 is a schematic view of force analysis of the grabbing and weighing mechanism and the flat piece of the online weight detection device with the spider-web manipulator arm.
Reference numbers in the figures: 1. a spider mobile manipulator; 101. a mounting seat; 102. a fixing plate;
103. adjusting a rod; 1031. adjusting the motor; 1032. rotating the rod; 1033. a connecting rod; 1034. a universal joint;
104. a cylinder; 105. grabbing the plate;
2. a grabbing and weighing mechanism; 201. a weighing platform; 202. fixing the rod; 203. a weighing sensor; 204. a claw-shaped seat; 205. a weighing pan;
206. grabbing a sucker; 2061. a first capture hood; 2062. a second capture hood; 2063. a first vacuum chamber; 2064. a second vacuum chamber; 2065. a first evacuation tube; 2066. a second vacuum tube;
207. hanging an iron column; 208. hanging a permanent magnet;
3. a visual recognition head;
4. a vacuum extraction mechanism;
401. a vacuum tank; 4011. a U-shaped pipe; 4012. a water column; 4013. a balancing chamber; 4014. a first contact; 4015. a second contact; 4016. a display lamp;
402. a vacuum pump; 4031. a first air exhaust hose; 4032. a second air exhaust hose; 404. a first solenoid valve; 405. discharging the air pipe; 406. a second solenoid valve; 407. a third electromagnetic valve;
5. a first on-off valve; 6. a second on-off valve; 7. a normal pressure pipeline; 8. an air inlet pipe; 9. and a fourth solenoid valve.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example (b): as shown in fig. 1-9, the on-line weight detecting device with the spider mobile manipulator arm comprises a spider mobile manipulator arm 1, a grabbing weighing mechanism 2 is installed at the bottom end of the spider mobile manipulator arm 1, the grabbing weighing mechanism 2 is used for grabbing flat pieces on a transmission belt, the weight of the flat pieces is weighed and judged whether the flat pieces are qualified or not while grabbing the flat pieces, the flat pieces are placed into a corresponding packaging box, a visual identification head 3 is installed on one side of the grabbing weighing mechanism 2, the visual identification head 3 is used for identifying the flat pieces which are placed in disorder on the transmission belt, a coding positioner is used for positioning the positions of the flat pieces, a vacuum extracting mechanism 4 is further connected on one side of the grabbing weighing mechanism 2, the vacuum extracting mechanism 4 is used for vacuumizing the grabbing weighing mechanism 2, so that the flat pieces on the transmission belt can be grabbed, and the weight detecting device is intelligently controlled by a controller, the output end of the visual identification head 3 is electrically connected with the input end of the controller.
The spider web manipulator mechanical arm 1 comprises a fixing plate 102, an adjusting rod 103 and a grabbing plate 105;
the middle of the top end of the fixing plate 102 is fixedly provided with a mounting seat 101, the mounting seat 101 is used for fixedly mounting the whole online weight detection device, so that the online weight detection device can stably work, the edge of the fixing plate 102 is provided with three adjusting rods 103, the adjusting rods 103 are used for adjusting the position and the angle of the spider mobile mechanical arm 1, so that the spider mobile mechanical arm 1 can grab and place flat pieces at different positions, the bottom end of each adjusting rod 103 is provided with a grabbing plate 105, the grabbing plates 105 are hinged with the adjusting rods 103, an air cylinder 104 is arranged between the grabbing plates 105 and the fixing plate 102, and the air cylinder 104 is used for extending and contracting the work of the whole spider mobile mechanical arm 1;
the grabbing weighing mechanism 2 comprises a weighing table 201, a claw-shaped seat 204, a weighing disc 205 and a grabbing sucker 206;
a weighing platform 201 is fixedly arranged below the grabbing plate 105 through a fixing rod 202, the fixing rod 202 is positioned at the edge of the weighing platform 201, a weighing sensor 203 is arranged on the upper surface of the weighing platform 201, the output end of the weighing sensor 203 is electrically connected with the input end of the controller, the weighing sensor 203 is used for measuring the weight of the flat piece, a claw-shaped seat 204 is arranged on the upper surface of the weighing sensor 203, a weighing disc 205 is arranged on the lower surface of the weighing platform 201, the weighing disc 205 is fixedly connected with the claw-shaped seat 204, so that the weighing disc 205 and the grabbed flat piece can act on the weighing sensor 203, the weight of the flat piece can be measured, a grabbing sucker 206 is fixedly arranged below the weighing disc 205, and the grabbing sucker 206 is used for grabbing the flat piece;
the vacuum extraction mechanism 4 comprises a vacuum tank 401, a vacuum pump 402, a first air extraction hose 4031 and a second air extraction hose 4032;
The adjusting rod 103 comprises an adjusting motor 1031, a rotating rod 1032, a connecting rod 1033 and a universal joint 1034;
adjusting motor 1031 is installed to fixed plate 102 lower surface limit portion, the output electric connection of controller adjusts the input of motor 1031, realize the control to adjusting motor 1031, fixed mounting has dwang 1032 on the adjusting motor 1031 output shaft, dwang 1032 is used for realizing the regulation to the turned angle of spider phone arm 1, dwang 1032 one end articulates there is connecting rod 1033, the regulation to connecting rod 1033 is realized in the rotation of dwang 1032, and then the realization is adjusted the direction of snatching weighing mechanism 2, all be connected through universal joint 1034 between cylinder 104 and the fixed plate 102 and between cylinder 104 and the snatching board 105, make cylinder 104 can realize rotating along with the direction regulation of spider phone arm 1, can not restrict the angle of snatching board 105.
The grabbing weighing mechanism 2 further comprises a suspension iron column 207 and a suspension permanent magnet 208;
weighing dish 205 upper surface limit portion installs a plurality of and hangs iron prop 207, it hangs iron prop 207 position department and installs a plurality of and hangs permanent magnet 208 to grab board 105 lower surface limit portion correspondence, it is connected through the telescopic link between the permanent magnet 208 to grab board 105 and hang, hang iron prop 207 and hang permanent magnet 208's design, make when not using online weight detection device, can eliminate the weight that is used in on weighing sensor 203, avoid weighing sensor 203 to be in the pressurized state for a long time, lead to life to reduce.
The grasping suction cups 206 include a first grasping cap 2061 and a second grasping cap 2062;
a first grabbing cover 2061 is fixedly arranged below the weighing plate 205, the first grabbing cover 2061 is used for grabbing flat pieces with larger surface area, a second grabbing cover 2062 is arranged at the central position inside the first grabbing cover 2061, the second grabbing cover 2062 is used for grabbing flat pieces with smaller surface area than that of the first grabbing cover 2061, meanwhile, the flat pieces with through holes in the center can be grabbed, the through holes can be blocked, so that the whole grabbing suction cup 206 can smoothly grab flat pieces with through holes in the middle, such as a bolt gasket, a first vacuum cavity 2063 is formed between the first grabbing cover 2061 and the second grabbing cover 2062, a second vacuum cavity 2064 is formed in the middle of the second grabbing cover 2062, the first vacuum cavity 2063 and the second vacuum cavity 2064 are used for forming vacuum, so that the flat pieces on the conveying belt are grabbed by using negative pressure, a first vacuum tube 2065 is arranged at the top end of the first vacuum cavity 2063, a second vacuum tube 2066 is installed on the side wall of the top end of the second grabbing cover 2062, the first vacuum tube 2065 is communicated with the second vacuum tube 2066, the first vacuum tube 2065 and the second vacuum tube 2066 are used for vacuumizing the interiors of the first vacuum cavity 2063 and the second vacuum cavity 2064, a valve is arranged at one end, located inside the first vacuum cavity 2063, of the first air suction hose 4031, and a valve is arranged at the connection position of the first air suction hose 4031 and the second grabbing cover 2062, so that the valve is closed after grabbing.
The vacuum extraction mechanism 4 further comprises a first solenoid valve 404, a gas release pipe 405, a second solenoid valve 406 and a third solenoid valve 407;
a first electromagnetic valve 404 is installed at the connection position of the first air exhaust hose 4031 and the bottom end of the vacuum tank 401, the flow direction of the first electromagnetic valve 404 is from the gripping sucker 206 to the vacuum tank 401, the first electromagnetic valve 404 is used for controlling air in the first air exhaust hose 4031 to flow from the gripping sucker 206 to the vacuum tank 401, the vacuum degree in the vacuum tank 401 is used for realizing vacuum pumping on the gripping sucker 206, an air exhaust pipe 405 is connected to the lower end of the first electromagnetic valve 404 and the first air exhaust hose 4031 in a penetrating manner, the air exhaust pipe 405 is used for re-conveying outside air into the gripping sucker 206 to realize release of a gripped flat piece, a second electromagnetic valve 406 is installed at one end of the air exhaust pipe 405, the flow direction of the second electromagnetic valve 406 is from the outside to the first air exhaust hose 4031, the second electromagnetic valve 406 is used for controlling an air intake time point to realize release of the flat piece, a third electromagnetic valve 407 is installed at the connection position, the third solenoid valve 407 is conducted from the vacuum tank 401 to the vacuum pump 402 for vacuumizing the vacuum tank 401 and maintaining the vacuum degree inside the vacuum tank 401, and the output end of the controller is electrically connected to the input ends of the first solenoid valve 404, the second solenoid valve 406 and the third solenoid valve 407.
As shown in fig. 10, a first on-off valve 5 is installed at one end of a first air exhaust hose 4031, which is located at one end of a grabbing weighing mechanism 2, the first on-off valve 5 is fixedly installed on the grabbing weighing mechanism 2, the first air exhaust hose 4031 is located at one end of the grabbing weighing mechanism 2, a second on-off valve 6 is installed at a position 5 cm away from the first on-off valve, the first air exhaust hose 4031 located between the first on-off valve 5 and the second on-off valve 6 forms a normal pressure pipeline 7, one end of the normal pressure pipeline 7 is communicated with an air inlet pipe 8, and one end of the air inlet pipe 8 is provided with a;
The cross-sectional area inside the U-shaped tube 4011 is s, the total length of the U-shaped tube 4011 is L, and the length of the U-shaped tube 4011 inside the vacuum tank 401 is L1The U-shaped tube 4011 is located outside the vacuum tank 401 and has a length L2The volume of the water column 4012 is V, the vacuum degree of the balance cavity 4013 is Q, the distance between the plurality of second contacts 4015 is Y, and the value of Y can be set by oneself;
in an initial state, the vacuum degree in the vacuum tank 401 is Q, and the liquid levels of water columns 4012 of the U-shaped pipe 4011 in the vacuum tank 401 and the outside are consistent;
the degree of vacuum in the vacuum tank 401 is reduced to Q’When the current is over;
according to the formula:
wherein,
which indicates the actual degree of vacuum inside the vacuum tank 401, s indicates the internal cross-sectional area of the U-shaped tube 4011,
the weight of the rising height of the water column 4012 is shown, h is one half of the liquid level difference at the two ends of the U-shaped pipe 4011 after the liquid level is changed,
after the liquid level is changed, the U-shaped tube 4011 is positioned in the vacuum degree in the vacuum tank 401;
according to the formula
To obtain:
by substituting the above formula into
To obtain:
when in use
When the water column is in contact with the water column 4012, the lowest contact of the second contact 4015 is contacted with the water column 4012, and the first contact 4014 and the second contact 4015 are conducted with a circuit;
when in use
When the water column is contacted with the second contact 4012 of the second contact 4015 from bottom to top, the first contact 4014 and the second contact 4015 are conducted with a circuit;
when in use
When the vacuum tank 401 is vacuumized, the vacuum degree is kept by using the vacuum pump 402 at the moment, the second contact 4015 is in contact with the water column 4012 from the third contact from bottom to top, the first contact 4014 and the second contact 4015 are in circuit conduction, and the vacuum tank 401 is vacuumized.
The working principle is as follows: in the process of using the online weight detection device with the spider-web robot arm, firstly, the inside of a balance cavity 4013 is kept at 90% of vacuum degree, and the inside of a vacuum tank 401 is vacuumized by using a vacuum pump 402 until two ends of a water column 4012 in a U-shaped tube 4011 are parallel and level, and at the moment, the vacuum degree in the vacuum tank 401 is ensured to be 90%;
then, the flat piece on the conveying belt is identified and positioned by using the visual identification head 3 (visual identification is prior art and is not described herein), the adjustment motor 1031 is controlled by the controller to rotate and the cylinder 104 stretches, so that the grabbing suction cup 206 aligns to the flat piece after identification and positioning, at this time, the first electromagnetic valve 404 is controlled by the controller to be opened, the vacuum tank 401 evacuates the gas inside the first vacuum chamber 2063 and the second vacuum chamber 2064 through the first internal vacuum and air exhaust hose 4031, so that the grabbing suction cup 206 can be used to grab the flat piece on the conveying belt, after the grabbing is completed, the first electromagnetic valve 404 is controlled by the controller to be closed, the claw-shaped seat 204 and the weighing plate 205 are fixedly connected, the weighing plate 205 and the grabbing suction cup 206 are fixedly connected, and the whole grabbing weighing mechanism 2 sequentially comprises: the claw-shaped seat 204, the weighing sensor 203, the weighing platform 201 and the weighing plate 205 are in a mutually separated state, at the moment, the flat piece is grabbed by the grabbing sucker 206, the claw-shaped seat 204 is used for extruding the weighing sensor 203 to weigh out the weight, the original weight is subtracted by the total weight to obtain the weight of the flat piece, the weight of the flat piece is judged, when the weight of the flat piece meets the standard, the controller controls the spider-web mobile phone mechanical arm 1 to move to the box body position meeting the standard, then the controller controls the second electromagnetic valve 406 to be opened, air is conveyed into the first vacuum cavity 2063 and the second vacuum cavity 2064, the grabbing sucker 206 cannot continuously grab the flat piece, the flat piece is placed in the box body, and weighing and packaging of the flat piece are completed;
as shown in fig. 10, with respect to the force analysis when the flat piece was gripped: when the first air suction hose 4031 is used for vacuumizing the grabbing sucker 206 and grabbing a flat piece by using vacuum, the first on-off valve 5 and the second on-off valve 6 are both closed, at the moment, the fourth electromagnetic valve 9 is controlled to be opened by the controller, and outside air enters the normal-pressure pipeline 7 through the air inlet pipe 8, so that the inside of the normal-pressure pipeline 7 is in a normal-pressure state;
after the flat piece is grabbed, because the inside of the grabbing suction cup 206 is in a vacuum state, the whole grabbing suction cup 206 and the flat piece are in a flat state, imagine as a whole, the upward atmospheric pressure F1 borne by the flat piece, the air inside the normal-pressure pipeline 7 and the outside atmospheric pressure generate a downward atmospheric pressure F2 to the grabbing suction cup 206 to be balanced with each other, namely, the atmospheric pressure borne by the whole grabbing suction cup 206 and the flat piece are mutually offset (similar to the case that a single suction cup grabs glass, when the sucking cup is lifted, the glass is also lifted, at the moment, the upward atmospheric pressure borne by the glass is equal to the downward atmospheric pressure borne by the sucking cup, namely, the suction force borne by the glass to the sucking cup is equal to the suction borne by the sucking cup to the glass, so that the balance of the whole is ensured, at the moment, the pulling force borne by the hand to the sucking cup is equal to the gravity borne by the glass plus the gravity borne by the sucking cup), at the moment, the pulling force borne The weight of the flat piece can be weighed by the gravity of the body.
When the vacuum tank 401 evacuates the interiors of the first vacuum chamber 2063 and the second vacuum chamber 2064, gas enters the interior of the vacuum tank 401, so that the vacuum degree in the interior of the vacuum tank 401 is reduced, at this time, the water column 4012 moves towards one end of the balance chamber 4013 because the vacuum degree in the interior of the balance chamber 4013 is unchanged, at this time, the water column 4012 is communicated with the first contact 4014 and the second contact 4015, so that the display lamp 4016 displays different colors, the vacuum degree in the interior of the vacuum tank 401 is judged, when the vacuum degree in the interior of the vacuum tank 401 reaches the early warning degree, the vacuum pump 402 is started and the third electromagnetic valve 407 is opened, the interior of the vacuum tank 401 is evacuated until the water column 4012 in the interior of the U-shaped tube 4011 returns to the original position, and at this time, the vacuum degree in the interior of the vacuum tank 401 is ensured to be consistent with the vacuum degree in the interior of the balance chamber 4013, the weight is 90%, and then the flat piece is continuously grabbed and weighed;
when not using detection device, utilize the telescopic link extension to hang permanent magnet 208, and manual upwards mention and snatch weighing mechanism 2, make and hang permanent magnet 208 and hang the contact of iron prop 207, utilize the magnetism that hangs permanent magnet 208, attract hanging iron prop 207, make claw type seat 204 not directly act on weighing sensor 203 when not using, avoid whole sucking disc 206 that snatchs to be used on weighing sensor 203 always, can effectual extension weighing sensor 203's life, it is when preventing snatching the flat piece to utilize the telescopic link to extend and contract hanging permanent magnet 208, hang permanent magnet 208 and attract to lead to can't weighing hanging iron prop 207.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. Take online weight detection device of spider cell-phone arm, its characterized in that: the intelligent robot comprises a spider mobile manipulator (1), wherein a grabbing and weighing mechanism (2) is installed at the bottom end of the spider mobile manipulator (1), a visual identification head (3) is installed on one side of the grabbing and weighing mechanism (2), a vacuum extraction mechanism (4) is further connected to one side of the grabbing and weighing mechanism (2), the weight detection device is intelligently controlled through a controller, and the output end of the visual identification head (3) is electrically connected with the input end of the controller;
the spider-web manipulator mechanical arm (1) comprises a fixing plate (102), an adjusting rod (103) and a grabbing plate (105);
the middle of the top end of the fixing plate (102) is fixedly provided with a mounting seat (101), the edge of the fixing plate (102) is provided with three adjusting rods (103), the bottom ends of the adjusting rods (103) are provided with a grabbing plate (105), the grabbing plate (105) is hinged with the adjusting rods (103), and an air cylinder (104) is arranged between the grabbing plate (105) and the fixing plate (102);
the grabbing weighing mechanism (2) comprises a weighing platform (201), a claw-shaped seat (204), a weighing disc (205) and a grabbing sucker (206);
a weighing platform (201) is fixedly arranged below the grabbing plate (105) through a fixing rod (202), the fixing rod (202) is located at the edge of the weighing platform (201), a weighing sensor (203) is arranged on the upper surface of the weighing platform (201), the output end of the weighing sensor (203) is electrically connected with the input end of a controller, a claw-shaped seat (204) is arranged on the upper surface of the weighing sensor (203), a weighing disc (205) is arranged on the lower surface of the weighing platform (201), the weighing disc (205) is fixedly connected with the claw-shaped seat (204), and a grabbing sucker (206) is fixedly arranged below the weighing disc (205);
the vacuum extraction mechanism (4) comprises a vacuum tank (401), a vacuum pump (402), a first air extraction hose (4031) and a second air extraction hose (4032);
a vacuum tank (401) is mounted on one side of the spider-web mobile manipulator (1), the vacuum tank (401) is connected with the grabbing sucker (206) through a first air exhaust hose (4031), and the vacuum tank (401) is connected with the vacuum pump (402) through a second air exhaust hose (4032);
the adjusting rod (103) comprises an adjusting motor (1031), a rotating rod (1032), a connecting rod (1033) and a universal joint (1034);
an adjusting motor (1031) is mounted on the edge portion of the lower surface of the fixing plate (102), the output end of the controller is electrically connected with the input end of the adjusting motor (1031), a rotating rod (1032) is fixedly mounted on the output shaft of the adjusting motor (1031), one end of the rotating rod (1032) is hinged to a connecting rod (1033), and the air cylinder (104) and the fixing plate (102) and the air cylinder (104) and the grabbing plate (105) are connected through universal joints (1034);
the grabbing weighing mechanism (2) further comprises a hanging iron column (207) and a hanging permanent magnet (208);
a plurality of suspension iron posts (207) are installed on the edge portion of the upper surface of the weighing plate (205), and a plurality of suspension permanent magnets (208) are installed on the position, corresponding to the suspension iron posts (207), of the edge portion of the lower surface of the grabbing plate (105).
2. The on-line weight detecting device with a spider-web manipulator according to claim 1, wherein: the grabbing sucker (206) comprises a first grabbing cover (2061) and a second grabbing cover (2062);
the weighing plate is characterized in that a first grabbing cover (2061) is fixedly installed below the weighing plate (205), a second grabbing cover (2062) is installed at the center position inside the first grabbing cover (2061), a first vacuum cavity (2063) is formed between the first grabbing cover (2061) and the second grabbing cover (2062), a second vacuum cavity (2064) is formed in the middle of the second grabbing cover (2062), a first vacuumizing tube (2065) is installed at the top end of the first vacuum cavity (2063), a second vacuumizing tube (2066) is installed on the side wall of the top end of the second grabbing cover (2062), and the first vacuumizing tube (2065) is communicated with the second vacuumizing tube (2066).
3. The on-line weight detecting device with a spider-web manipulator according to claim 2, characterized in that: the vacuum extraction mechanism (4) further comprises a first electromagnetic valve (404), an air release pipe (405), a second electromagnetic valve (406) and a third electromagnetic valve (407);
first solenoid valve (404) are installed to air extraction hose (4031) and vacuum tank (401) bottom junction, first solenoid valve (404) lower extreme and air extraction hose (4031) through connection have bleeder (405), second solenoid valve (406) are installed to bleeder (405) one end, third solenoid valve (407) are installed to air extraction hose two (4032) and vacuum tank (401) top junction, the input of first solenoid valve (404), second solenoid valve (406) and third solenoid valve (407) of output electric connection of controller.
4. The on-line weight detecting device with a spider phone mechanical arm according to claim 3, characterized in that: the vacuum tank (401) comprises a U-shaped pipe (4011), a water column (4012) and a balance cavity (4013);
vacuum tank (401) installation is run through to U type pipe (4011) bottom, U type pipe (4011) are located vacuum tank (401) outside one end and are closed the design, U type pipe (4011) inside packing has water column (4012), U type pipe (4011) closed design one end is provided with balanced chamber (4013).
5. The on-line weight detecting device with a spider phone mechanical arm according to claim 4, characterized in that: the vacuum canister (401) further comprises a first contact (4014), a second contact (4015) and a display light (4016);
u type pipe (4011) bottom is provided with first contact (4014), a plurality of second contact (4015) are installed to balanced chamber (4013) lateral wall equidistance, a plurality of display lamp (4016) are installed to vacuum tank (401) lateral wall, first contact (4014) and power electric connection, second contact (4015) and display lamp (4016) electric connection, display lamp (4016) and power electric connection.
6. The on-line weight detecting device with a spider-web manipulator according to claim 5, wherein: the cross-sectional area inside the U-shaped pipe (4011) is s, the total length of the U-shaped pipe (4011) is L, and the length of the U-shaped pipe (4011) inside the vacuum tank (401) is L1The length of the U-shaped pipe (4011) positioned outside the vacuum tank (401) is L2The volume of the water column (4012) is V, the vacuum degree of the balance cavity (4013) is Q, and the distance between a plurality of second contacts (4015) is Y;
in an initial state, the vacuum degree in the vacuum tank (401) is Q, and the liquid level heights of the water columns (4012) of the U-shaped pipe (4011) in the vacuum tank (401) and outside are consistent;
the vacuum degree in the vacuum tank (401) is reduced to Q’When the current is over;
according to the formula:
wherein,
showing a vacuum tank (4)01) The actual degree of vacuum inside, s represents the internal cross-sectional area of the U-shaped tube (4011),
the weight of the rising height of the water column (4012) is shown, h is one half of the liquid level difference at the two ends of the U-shaped pipe (4011) after the liquid level is changed,
after the liquid level is changed, the U-shaped pipe (4011) is positioned in the vacuum degree in the vacuum tank (401);
according to the formula
To obtain:
by substituting the above formula into
To obtain:
when in use
When the water-cooled generator is used, the lowest contact of the second contact (4015) is contacted with a water column (4012), and the first contact (4014) and the second contact (4015) are conducted with a circuit;
when in use
When the water column is in contact with the water column (4012), the second contact point of the second contact point (4015) from bottom to top is contacted with the water column, and the first contact point (4014) and the second contact point (4015) are conducted with a circuit;
when in use
When the vacuum tank is used, the third contact of the second contact (4015) from bottom to top is in contact with a water column (4012), the first contact (4014) and the second contact (4015) are communicated with a circuit, and at the moment, the vacuum pump (402) is required to be utilized to vacuumize the interior of the vacuum tank (401) to keep the vacuum degree;
wherein B, A, C, D respectively represent threshold nodes where Qx is decreasing.
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| CN113959960A (en) * | 2021-10-27 | 2022-01-21 | 青岛华翔汽车金属部件有限公司 | Online detection method for automobile outer threshold reinforcement |
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| SU1435423A1 (en) * | 1986-11-12 | 1988-11-07 | Производственное объединение по шестерням "Минсктракторозапчасть" | Vacuum grip for flat parts |
| US7293591B2 (en) * | 2003-02-28 | 2007-11-13 | Ishida Co., Ltd. | System for mounting products to a tape |
| CN201383181Y (en) * | 2009-03-26 | 2010-01-13 | 北京兆维科技股份有限公司 | Paper currency conveying and detecting device |
| CN203804969U (en) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | Parallel robot |
| JP6438525B1 (en) * | 2017-05-26 | 2018-12-12 | ファナック株式会社 | Weight measuring system and method for measuring the weight of an article |
| CN207996948U (en) * | 2018-01-30 | 2018-10-23 | 东莞市裕意电子有限公司 | A kind of automation charging and discharging mechanism |
| CN208270053U (en) * | 2018-02-09 | 2018-12-21 | 湘阴舜康科技有限公司 | A kind of portable hiding hook-type portable electronic scale |
| CN110421552A (en) * | 2019-08-27 | 2019-11-08 | 安徽理工大学 | A kind of parallel pneumatic gripping device |
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Effective date of registration: 20201217 Address after: 213000 East 1122, No.1 Qingyang Middle Road, Tianning District, Changzhou City, Jiangsu Province Patentee after: Changzhou AITai Automation Technology Co.,Ltd. Address before: 213000 No. 206, building 4, Chuangyan port, Changzhou science and Education City, No. 18, Changwu Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee before: Changzhou Morsen Intelligent Technology Co.,Ltd. Patentee before: Changzhou AITai Automation Technology Co.,Ltd. |