Automatic handing system of weight and application thereof

[0028] In specific implementation, an embodiment adopted by the present invention is to use aluminum alloy materials to construct a rectangular parallelepiped-shaped frame structure 1, with a specification of 3.5m*1.5m*2.8m, and the four supporting legs 2 of the frame pass through the ground. The foot bolt 3 is fixed to the ground to achieve a stable effect. There is a transverse rail 4 on each of the two long sides of the upper part of the frame, and a 1.5m long short rail 5 perpendicular to the long rail on the two long side rails. The distance between the two short rails 5 is 400mm, There are pulleys on both sides of the short track in the transverse track 4 so that the short track 5 can move in parallel along the extending direction of the transverse track 4. There is a 400mm long strip plate 6 perpendicular to the short track 5 on the two short rails 5. There are pulleys on both ends of the strip plate 6 in the short track 5, so that the strip plate 6 can follow the extension direction of the short track 5 mobile. A telescopic mechanical arm is fixed in the middle of the strip plate 5. The part of the telescopic robot arm below the strip plate 5 is composed of three telescopic metal rods 7, which are the first metal rod 701, the second metal rod 702, and the third metal rod. Rod 703, each metal rod is 300mm long, and there is a position sensor 8 on the upper part of each metal rod, which is a first position sensor 801, a second position sensor 802, and a third position sensor 803. The top of the third metal rod is directly fixed on the lower end of the strip plate 6, and the third metal rod is fixed. The upper ends of the back of the first and second metal rods have integral T-shaped protrusions 701a, 702a, the second and third metals There are integrated sliding grooves 702b and 703c on the front of the rod, and the first and second T-shaped protrusions can slide in the sliding grooves in front of the second and third metal rods, respectively. A manipulator 9 is fixed under the first metal rod. The front end of the manipulator is grate-shaped with multiple grate teeth 10, each of which has a height of 10mm and a tooth pitch of 10mm. Depending on the weight level of the weight to be carried, different specifications of the manipulator can be replaced. The specifications of the manipulator 9 are distinguished by the number of grate teeth. The higher the weight level, the more the number of manipulator grate teeth is used. A grate-shaped weight holder 11, a mass comparator 12, and a magnetic measuring device 13 are provided on the test bench for measuring the weight mass measurement parameters. The upper part of the mass comparator 12 or the magnetic measuring device 13 is grate-shaped.

[0029] The grate-shaped weight support 11 is a circle composed of grate bars 14, a circle with a diameter of about 350mm, the bottom of the grate bar 14 has a bracket 15, and the grate bar 14 is fixed on the bracket 15, the height of the grate bar 14 is 20mm, and the spacing It is 10mm.

[0030] When working, the PLC controller 17 and the AC servo motor 18 are used to drive the manipulator 9 to move in the three coordinate directions of X, Y and Z. The grate teeth 10 in front of the manipulator 9 cross through the grate bars 14 of the weight tray. , Reach below the position below the bottom edge of the weight 16, and then move to the lower end of the weight, and then lift the weight 16, and then the controller controls the first, second, and third metal rods of the telescopic robot arm, the first The T-shaped protrusion on the back of the metal rod slides in the groove slide in the front of the second metal rod, so that the first metal rod is retracted into the second metal rod. If the second metal rod is fully retracted, it still does not reach The carrying height can be controlled by the second metal rod including the first metal rod, so that the T-shaped protrusion on the back slides in the groove slide in the front of the third metal rod until it is completely retracted into the third metal rod Inside. After the weight 16 is raised to a predetermined height, the telescopic mechanical arm is moved in the frame space using long and short tracks until the corresponding mass comparator 12 or magnetic measuring device 13 is placed, and the weight 16 is placed on the measuring instrument.

[0031] The above technical solution is only one embodiment of the present invention. For those skilled in the art, on the basis of the application methods and principles disclosed in the present invention, it is easy to make various types of improvements or modifications, not limited to The method described in the foregoing specific implementation manners of the present invention, therefore, the foregoing manner is only a specific example, and does not have a restrictive meaning.