Automatic weight replacing device and control method thereof

Abstract

The invention discloses an automatic weight replacing device and a control method thereof, and relates to the technical field of weight replacing equipment, the automatic weight replacing device comprises two sets of manipulator assemblies arranged oppositely, and a plurality of weight trays arranged between the two sets of manipulator assemblies; the manipulator assembly comprises a manipulator capable of lifting and horizontally rotating under the driving of a power device; the weight trays are oppositely arranged in two groups, and the weight trays in the same group are located on the rotating arc lines of the manipulators of the manipulator assemblies which are far away from the weight trays; the pressure correction equipment is arranged at one ends of the two groups of weight trays, and a weight disc on the pressure correction equipment is positioned on an intersection point of rotating arc lines of the two manipulators; and the control system is used for controlling the two manipulators to carry out weight replacement between the weight disc and each weight tray. The weight can be automatically replaced, time and labor are saved, the working efficiency is high, and the device is simple in structure, small in size and low in cost.

Description

Technical Field

[0001] The invention relates to the technical field of weight replacement equipment, and in particular to an automatic weight replacement device and a control method thereof. Background Art

[0002] Weights are a kind of measuring tool, which is widely used in daily production and life, and many products or devices will use it. Many calibration devices also use weights as standard reference objects. Generally speaking, the weights used in larger devices (such as traditional pressure correction devices) are relatively heavy, and weights are usually replaced manually, which is time-consuming and labor-intensive, and has low work efficiency. At present, there are also some equipment for replacing weights, but the mechanical structure of these equipment is very complex, occupies a large space, and the equipment cost is also high. Summary of the invention

[0003] In view of the above defects, the purpose of the present invention is to provide an automatic weight replacement device and a control method thereof, which can automatically replace weights, save time and effort, and have high work efficiency. The device has a simple structure, a small size, and a low cost.

[0004] In order to achieve the above object, the technical solution of the present invention is: An automatic weight replacement device and control method thereof, comprising two sets of manipulator assemblies arranged opposite to each other, and a plurality of weight trays arranged between the two sets of the manipulator assemblies; the manipulator assemblies include a manipulator that can be lifted and lowered and rotated horizontally under the drive of a power device; the weight trays are arranged opposite to each other in two groups, and the weight trays in the same group are all located on the rotation arc of the manipulator of the manipulator assembly that is farther away from them; a pressure correction device is arranged at one end of the two groups of weight trays, and the weight disk on the pressure correction device is located at the intersection of the rotation arcs of the two manipulators; and also includes a control system for controlling the two manipulators to replace weights between the weight disks and the weight trays.

[0005] Among them, the power device includes a lifting motor and a swing arm motor; the lifting motor is transmission-connected with a vertically arranged screw, the two ends of the screw are rotatably mounted on the base and the top plate respectively, a nut is threadedly mounted on the screw, a mounting plate is fixed on the nut, the swing arm motor is fixed on the mounting plate, a mechanical arm is fixed on the power output shaft of the swing arm motor, and the mechanical arm is mounted on the end of the mechanical arm.

[0006] Among them, a linear guide is vertically installed at the positions on both sides of the swing arm motor on the mounting plate, the slider of the linear guide is fixedly connected to the mounting plate, the two ends of the linear guide are respectively fixed to the base and the top plate, and an upper limit switch and a lower limit switch are installed on one of the linear guides.

[0007] Wherein, a semi-annular resistance wire is also installed on the mounting plate, and the two ends of the resistance wire are respectively fixed on the two sliding blocks, and the sliding end of the resistance wire is fixed on the mechanical arm.

[0008] Among them, the manipulator includes a main clamp, and the main clamp includes two half-claws arranged opposite to each other. One end of the two half-claws is provided with meshing transmission teeth, and one of the half-claws is transmission-connected to a servo gear; the rear parts of the two half-claws are connected to auxiliary claws, and one of the half-claws is equipped with a proximity switch.

[0009] Among them, the control system includes a CPU circuit, and the CPU circuit is electrically connected to a lifting motor control circuit, a swing arm motor control circuit, a steering gear control circuit, a collection circuit and an alarm circuit; and also includes a power supply circuit for supplying power to the CPU circuit, the lifting motor control circuit, the swing arm motor control circuit, the steering gear control circuit, the collection circuit and the alarm circuit.

[0010] Among them, the CPU circuit includes a CPU chip U4, the fifteenth, sixteenth, twenty-sixth and twenty-seventh output pins of the CPU chip U4 are electrically connected to the lifting motor control circuit, the seventeenth, eighteenth, thirty-ninth and forty-fourth output pins of the CPU chip U4 are electrically connected to the swing arm motor control circuit, the nineteenth and twenty-second output pins of the CPU chip U4 are electrically connected to the servo control circuit, the eleventh, twelfth, thirteenth, fourteenth, twenty-eighth, twenty-ninth, thirty-second and thirty-third input pins of the CPU chip U4 are electrically connected to the acquisition circuit, and the fourth, forty-fifth and forty-sixth output pins of the CPU chip U4 are electrically connected to the alarm circuit.

[0011] Among them, the lifting motor control circuit includes two lifting motor driving chips, the input pins of the two lifting motor driving chips are respectively electrically connected to the fifteenth pin, the sixteenth pin, the twenty-sixth pin and the twenty-seventh pin of the CPU chip U4, and the output pins of the two lifting motor driving chips are respectively electrically connected to the signal ends of the two lifting motors; the swing arm motor control circuit includes two swing arm motor driving chips, the input pins of the two swing arm motor driving chips are respectively electrically connected to the seventeenth pin, the eighteenth pin, the thirty-ninth pin and the fortieth pin of the CPU chip U4, and the output pins of the two swing arm motor driving chips are respectively electrically connected to the signal ends of the two swing arm motors; the servo control circuit includes two servo interfaces respectively electrically connected to the two servos, and the three pins of the servo interface are respectively electrically connected to the positive power supply, the nineteenth or twentieth pin of the CPU chip U4 and the ground.

[0012] Among them, the acquisition circuit includes a voltage acquisition circuit, a limit switch acquisition circuit and a proximity switch acquisition circuit for collecting the voltages of the two resistance wires. The voltage acquisition circuit is electrically connected to the eleventh pin and the twelfth pin of the CPU chip U4, the limit switch acquisition circuit is electrically connected to the thirteenth pin, the fourteenth pin, the twenty-eighth pin and the twenty-ninth pin of the CPU chip U4, and the proximity switch acquisition circuit is electrically connected to the thirty-second pin and the thirty-third pin of the CPU chip U4.

[0013] A control method for an automatic weight replacement device is implemented based on the automatic weight replacement device described in the claim, and comprises the following steps: step S100, setting the range, and calculating the number of replacements of large weights and small weights according to the set range, and then issuing a device operation instruction; step S101, the left mechanical arm rotates, and stops rotating after rotating to the right position; step S102, the left mechanical arm descends, stops descending after descending to the right position, and the mechanical arm opens and closes the claw to grab a large weight; step S103, the left mechanical arm rises, stops rising after rising to the right position; step S104, the left mechanical arm rotates, stops rotating after rotating to the right position; step S105, the left mechanical arm descends, stops descending after descending to the right position, and the mechanical arm opens the claw to put down the large weight; step S106, the left mechanical arm rises and resets; step S107, the left mechanical arm rotates and resets; Step S108, determine whether the number of large weight replacements is completed, if not, return to step S101, if yes, proceed to the next step; step S109, the right mechanical arm rotates, and stops rotating after rotating into place; step S110, the right mechanical arm descends, stops descending after descending into place, and the manipulator opens and closes the claw to grab a small weight; step S111, the right mechanical arm rises, stops rising after rising into place; step S112, the right mechanical arm rotates, stops rotating after rotating into place; step S113, the right mechanical arm descends, stops descending after descending into place, and the manipulator opens the claw to put down the small weight; step S114, the right mechanical arm rises and resets; step S115, the right mechanical arm rotates and resets; step S116, determine whether the number of small weight replacements is completed, if not, return to step S109, if yes, the weight replacement is completed and the program ends.

[0014] After adopting the above technical solution, the beneficial effects of the present invention are: The automatic weight replacement device and control method of the present invention include two sets of manipulator components arranged relatively, and multiple weight trays arranged between the two sets of manipulator components; the manipulator components include a manipulator that can be lifted and lowered and rotated horizontally under the drive of a power device; each weight tray is arranged relatively in two groups, and each weight tray of the same group is located on the rotation arc of the manipulator of the manipulator component that is farther away from it; the pressure correction device is arranged at one end of the two sets of weight trays, and the weight tray on the pressure correction device is located at the intersection of the rotation arcs of the two manipulators; and also includes a control system for controlling the two manipulators to replace weights between the weight tray and each weight tray. The manipulator in the present invention can be lifted and lowered and rotated horizontally under the control of the control system, so the manipulator can grab weights of different specifications and put them on the weight tray according to requirements, or send the weights on the weight tray back to the corresponding weight tray. The device is simple and flexible to operate, avoids the complexity of manual participation in weight replacement, saves time and effort, and is fully automated and controlled, with high work efficiency. At the same time, the automatic weight replacement device of the present invention has a simple structure, a small size, a small footprint, and a low cost, which is conducive to practical promotion.

[0015] Since the automatic weight replacement device control method of the present invention can automatically complete the replacement of weights, it saves time and labor and has high work efficiency.

[0016] In summary, the automatic weight replacement device and the control method thereof of the present invention solve the technical problems in the prior art that manual weight replacement is time-consuming, labor-intensive, and has low work efficiency. The automatic weight replacement device and the control method thereof of the present invention can automatically replace weights, saving time and labor, and having high work efficiency. Moreover, the device has a simple structure, a small size, and a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the automatic weight replacement device of the present invention; Figure 2 yes Figure 1 AA line section view; Figure 3 yes Figure 1 Schematic diagram of the structure of the robot; Figure 4 It is a structural block diagram of a control system of an automatic weight replacement device of the present invention; Figure 5 yes Figure 4 Circuit diagram of the CPU circuit; Figure 6 yes Figure 4 A circuit schematic diagram of a first circuit of a power supply circuit; Figure 7 yes Figure 4 A circuit schematic diagram of a second circuit of the power supply circuit; Figure 8 yes Figure 4 Circuit diagram of the lifting motor control circuit; Fig. 9 yes Figure 4 Circuit diagram of the middle swing arm motor control circuit; Fig.10 yes Figure 4 Circuit diagram of the servo control circuit; Fig.11 yes Figure 4 The circuit schematic diagram of the proximity switch in the acquisition circuit; Fig.12 is a flow chart of a control method of an automatic weight replacement device of the present invention; In the figure: 10, base, 12, top plate, 14, support column, 20, lifting motor, 22, driving gear, 24, driven gear, 30, lead screw, 32, nut, 34, bearing, 40, linear guide, 42, slider, 44, upper limit switch, 46, lower limit switch, 50, mounting plate, 52, mechanical arm, 60, swing arm motor, 70, manipulator, 72, main clamping jaw, 720, transmission gear, 73, auxiliary jaw, 74, steering gear, 76, mounting part, 78, screw, 80, pressure correction device, 82, weight plate, 84, weight tray, 90, resistance wire, 91, proximity switch. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] The directions mentioned in this specification are based on the directions shown in the drawings and only represent relative positions, not absolute positions. Embodiment 1

[0020] like Figure 1 and Figure 2 As shown in the figure, an automatic weight changing device includes a base 10, a support column 14 is vertically fixed to each of the four corners of the base 10, and a top plate 12 is fixed to the top of the four support columns 14. Two sets of manipulator assemblies are installed between the base 10 and the top plate 12. The two sets of manipulator assemblies are Figure 1The two weight trays 84 are arranged relatively to each other (taking the orientation shown as an example), and a plurality of weight trays 84 are arranged on the base 10 between the two sets of manipulator components. The weight trays 84 are arranged relatively to each other in two groups on the left and right, and the weight trays 84 in the same group are all located on the same arc. A pressure correction device 80 is provided at the rear end of the two groups of weight trays 84, and a weight plate 82 for placing weights for correcting pressure is provided on the pressure correction device 80. The weight plate 82 is located at the intersection of the two arcs where the two groups of weight trays 84 are located, that is, the weight plate 82 and any group of weight trays 84 are located on the same arc. The present invention is provided with six weight trays 84, which can hold six different specifications of weights, and can be used to correct pressure transmitters with different measuring ranges, and has a wider range of applications. The manipulator assembly includes a manipulator 70 that can be lifted and lowered and rotated horizontally under the drive of a power device. The weight trays 84 located on the right side are all located on the rotation arc of the manipulator 70 of the left manipulator assembly, and the weight trays 84 located on the left side are all located on the rotation arc of the manipulator 70 of the right manipulator assembly, that is, each weight tray 84 of the same group is located on the rotation arc of the manipulator 70 of the manipulator assembly farther away from it, and the weight tray 82 is located at the intersection of the rotation arcs of the two manipulators 70. The automatic weight replacement device of the present invention also includes a control system for controlling the two sets of manipulator assemblies to replace weights between the weight trays 82 and each weight tray 84, which can realize automatic weight replacement, save time and labor, and have high work efficiency.

[0021] like Figure 1 and Figure 2 As shown together, the structures of the two sets of robot arm assemblies are exactly the same, and the following only takes the robot arm assembly on the left as an example to describe it in detail.

[0022] like Figure 1 and Figure 2As shown together, the power device includes a lifting motor 20 and a swing arm motor 60. The base 10 is a box-shaped structure composed of an upper plate, a lower plate and four side plates. The lifting motor 20 is horizontally installed in the base 10. An umbrella-shaped driving gear 22 is installed on the power output shaft of the lifting motor 20. The driving gear 22 is meshed with an umbrella-shaped driven gear 24. The driven gear 24 is fixedly sleeved on a vertically arranged lead screw 30. The lifting motor 20 is connected to the lead screw 30 through the driving gear 22 and the driven gear 24. The upper end of the lead screw 30 is rotatably mounted on the top plate 12 through a bearing (not shown in the figure), and the lower end of the lead screw 30 is rotatably mounted on the upper plate of the base 10 through a bearing 34, and passes through the upper plate and is fixedly sleeved together with the driven gear 24. The lead screw 30 is threadedly mounted with a nut 32, a mounting plate 50 is fixed on the nut 32, a swing arm motor 60 is fixedly mounted on the mounting plate 50, a mechanical arm 52 is fixed on the power output shaft of the swing arm motor 60, and a manipulator 70 is mounted on the lower side of the end of the mechanical arm 52. When the lifting motor 20 is running, the lead screw 30 rotates. Since the two ends of the lead screw 30 are rotatably mounted on the base 10 and the top plate 12, the lead screw 30 can only rotate but cannot move in a straight line. Therefore, when the lead screw 30 rotates, the nut 32 threadedly connected thereto will make a straight line motion on the lead screw 30, and move up or down according to the forward and reverse rotation of the lifting motor 20, thereby driving the mounting plate 50 and the swing arm motor 60, the mechanical arm 52 and the manipulator 70 arranged on the mounting plate 50 to perform lifting and lowering motions. When the swing arm motor 60 is running, the mechanical arm 52 will swing back and forth horizontally with the forward and reverse rotation of the swing arm motor 60, thereby driving the manipulator 70 to make an arc motion with the power output shaft of the swing arm motor 60 as the center and the length of the mechanical arm 52 as the radius. That is, the manipulator 70 can be vertically lifted and lowered and horizontally rotated 180° under the drive of the lifting motor 20 and the swing arm motor 60. Because the rotation arcs of the two manipulators 70 are intersecting, in order to prevent the two from colliding, the two manipulators 70 do not work at the same time. When one is working, the other is in the initial position, so the two will not interfere with each other. This design has a simple structure, ingenious layout, and occupies little space.

[0023] like Figure 1 and Figure 2As shown together, two linear guides 40 are vertically installed on the mounting plate 50, and the slider 42 of the linear guide 40 is fixedly connected to the mounting plate 50, and the two ends of the linear guide 40 are respectively fixed on the base 10 and the top plate 12. The two linear guides 40 are symmetrically arranged on both sides of the swing arm motor 60, and the two linear guides 40 and the lead screw 30 are distributed in an isosceles triangle. The two linear guides 40 play a guiding role, which can ensure that the mounting plate 50 moves in a straight line when lifting, and the movement is stable and high in precision. An upper limit switch 44 is installed near the top plate 12 of one of the linear guides 40, and a lower limit switch 46 is installed near the base 10. The upper limit switch 44 and the lower limit switch 46 can be used to limit the lifting height of the mounting plate 50 to control the up and down movement limit of the mounting plate 50.

[0024] like Figure 1 and Figure 2 As shown together, a semi-annular resistance wire 90 is also installed on the mounting plate 50, and the two ends of the resistance wire 90 are respectively fixed on the two sliders 42, and the sliding end of the resistance wire 90 is fixed on the mechanical arm 52. The sliding end of the resistance wire 90 will slide on the resistance wire 90 as the mechanical arm 52 rotates. As the mechanical arm 52 rotates, the resistance value of the resistance wire 90 will be different, and the changed resistance value is collected by the control system. The control system can determine the rotation angle of the mechanical arm 52 based on the collected resistance value change data, thereby controlling the operation of the swing arm motor 60.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown together, the manipulator 70 is fixedly mounted on the lower side of the manipulator 52 through a mounting member 76. The manipulator 70 includes a main clamping jaw 72, which is composed of two half-jaws arranged opposite to each other. The upper ends of the two half-jaws are provided with meshing transmission teeth 720. The lower ends of the two half-jaws are thin and bent inward to form a groove shape, which is convenient for grabbing the weight and can also grab it more firmly. The manipulator 70 also includes a steering gear 74 for driving the two half-jaws to open and close. The power output shaft of the steering gear 74 passes through the mounting member 76 and is connected to one of the half-jaws. Under the drive of the steering gear 74, the two half-jaws can open and close between 0° and 180° through the action of the transmission teeth 720 to complete the function of putting down and grabbing the weight. In order to make the manipulator 70 more stable and non-slip when grabbing the weight, the rear of the two half claws is preferably connected to two auxiliary claws 73 through a screw 78 in this embodiment. The auxiliary claws 73 increase the thickness of the manipulator 70, thereby increasing the contact area between the manipulator 70 and the weight, thereby improving the stability of the manipulator 70 grabbing the weight, and the weight is not easy to slip off. The parts where the main claw 72 and the auxiliary claw 73 contact the weight are all fitted with flexible gaskets, which can effectively prevent the weight from being damaged when grabbing the weight.

[0026] like Figure 1 , Figure 2and Figure 3 As shown together, a proximity switch 91 is installed on the side near the lower end of one of the half claws, and the proximity switch 91 is electrically connected to the control system. The proximity switch 91 is used to detect the position of the weight, the weight tray 84 or the weight plate 82 when descending, and transmit the detected signal to the control system. The control system controls the lifting motor 20 to stop according to the detected signal, and at the same time controls the operation of the servo 74 to drive the jaws of the manipulator 70 to open and close, thereby completing the action of grabbing and putting down the weight.

[0027] like Figure 4 As shown, the control system includes a CPU circuit, which is electrically connected to a lifting motor control circuit, a swing arm motor control circuit, a steering gear control circuit, a collection circuit and an alarm circuit, and also includes a power supply circuit for supplying power to the CPU circuit, the lifting motor control circuit, the swing arm motor control circuit, the steering gear control circuit, the collection circuit and the alarm circuit.

[0028] like Figure 4 and Figure 5 As shown together, the CPU circuit includes a CPU chip U4 and its peripheral circuits. In this embodiment, the preferred model of the CPU chip U4 is N32L406CBL7. The 15th, 16th, 26th and 27th output pins of the CPU chip U4 are electrically connected to the lifting motor control circuit, the 17th, 18th, 39th and 40th output pins of the CPU chip U4 are electrically connected to the swing arm motor control circuit, the 19th and 20th output pins of the CPU chip U4 are electrically connected to the steering gear control circuit, the 11th, 12th, 13th, 14th, 28th, 29th, 32nd and 33rd eight input pins of the CPU chip U4 are electrically connected to the acquisition circuit, and the 4th, 45th and 46th output pins of the CPU chip U4 are electrically connected to the alarm circuit. The 30th, 31st, 34th and 37th pins of the CPU chip U4 are electrically connected to the 7th, 5th, 8th and 2nd pins of the serial interface SWD respectively, and the serial interface SWD is used for program writing, debugging and parameter setting of the CPU chip U4. As for the peripheral circuits of the CPU chip U4, they are all conventional clock circuits, storage circuits, power supply filter circuits, etc., which are not the innovation of the present invention and will not be described in detail here.

[0029] like Figure 1 , Figure 4 , Figure 5 and Figure 8 As shown in the figure, the lifting motor control circuit includes two lifting motor driving chips, and the two lifting motor driving chips are used to control the left and right lifting motors 20 respectively. Since the control circuit structures of the two lifting motors 20 are the same, only the control circuit of the left lifting motor 20 is used as an example for detailed description: The left lifting motor control circuit includes a lifting motor driver chip U5. In this embodiment, the model of the lifting motor driver chip U5 is DRV8837. The fifth pin of the lifting motor driver chip U5 is electrically connected to a resistor R21, and the resistor R21 is electrically connected to the sixteenth pin of the CPU chip U4; the sixth pin of the lifting motor driver chip U5 is electrically connected to a resistor R20, and the resistor R20 is electrically connected to the fifteenth pin of the CPU chip U4, that is, the input pin of the lifting motor driver chip U5 is electrically connected to the CPU chip U4. The second pin of the lifting motor driver chip U5 is electrically connected to the second pin of the interface M1, and the third pin of the lifting motor driver chip U5 is electrically connected to the first pin of the interface M1. The second pin and the first pin of the interface M1 are electrically connected to the signal end of the lifting motor 20, that is, the output pin of the lifting motor driver chip U5 is electrically connected to the signal end of the lifting motor 20, which is used to control the forward and reverse rotation of the lifting motor 20, that is, to control the lifting and lowering of the manipulator 70.

[0030] The input pin of the lifting motor driving chip for controlling the right lifting motor 20 is electrically connected to the 26th pin and the 27th pin of the CPU chip U4 , and the output pin thereof is electrically connected to the signal end of the right lifting motor 20 .

[0031] like Figure 1 , Figure 4 , Figure 5 and Fig. 9 As shown in the figure, the swing arm motor control circuit includes two swing arm motor drive chips, and the two swing arm motor drive chips are used to control the left and right swing arm motors 60 respectively. Since the control circuit structures of the two swing arm motors 60 are the same, only the control circuit of the left swing arm motor 60 is taken as an example for detailed description: The left swing arm motor control circuit includes a swing arm motor driver chip U6. In this embodiment, the model of the swing arm motor driver chip U6 is DRV8837. The fifth pin of the swing arm motor driver chip U6 is electrically connected to a resistor R27, which is electrically connected to the eighteenth pin of the CPU chip U4; the sixth pin of the swing arm motor driver chip U6 is electrically connected to a resistor R26, which is electrically connected to the seventeenth pin of the CPU chip U4, that is, the input pin of the swing arm motor driver chip U6 is electrically connected to the CPU chip U4. The second pin of the swing arm motor driver chip U6 is electrically connected to the first pin of the interface M2, the third pin of the swing arm motor driver chip U6 is electrically connected to the second pin of the interface M2, the first pin and the second pin of the interface M2 are electrically connected to the signal end of the swing arm motor 60, that is, the output pin of the swing arm motor driver chip U6 is electrically connected to the signal end of the swing arm motor 60, which is used to control the forward and reverse rotation of the swing arm motor 60, that is, to control the horizontal swing of the manipulator 70.

[0032] The input pin of the swing arm motor driving chip for controlling the right swing arm motor 60 is electrically connected to the 39th pin and the 40th pin of the CPU chip U4, and the output pin thereof is electrically connected to the signal end of the right swing arm motor 60.

[0033] like Figure 1 , Figure 3 , Figure 4 , Figure 5 and Fig.10 As shown together, the servo control circuit includes two servo interfaces electrically connected to the two servos 74 respectively. The two servo interfaces have the same structure and both include three pins, the first pin of which is electrically connected to the positive pole of the power supply, the third pin of which is electrically connected to the ground, the second pin of the servo interface M3 electrically connected to the left servo is electrically connected to the nineteenth pin of the CPU chip U4; the second pin of the servo interface electrically connected to the right servo is electrically connected to the twentieth pin of the CPU chip U4. The second pin of the servo interface is electrically connected to the signal end of the servo 74, and the CPU chip U4 sends a PWM signal to control the forward and reverse rotation of the servo, thereby controlling the opening and closing of the manipulator 70.

[0034] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 8 , Fig. 9 and Fig.11 As shown together, the acquisition circuit includes a voltage acquisition circuit for acquiring the voltage of the resistance wire 90 , a limit switch acquisition circuit for acquiring signals of the upper limit switch 44 and the lower limit switch 46 , and a proximity switch acquisition circuit for acquiring signals of the proximity switch 91 .

[0035] like Figure 2 , Figure 4 , Figure 5 and Fig. 9 As shown in the figure, there are two voltage acquisition circuits, and the two voltage acquisition circuits have the same structure, which are used to collect the voltages of the left and right resistance wires 90 respectively. The following is a detailed description of the voltage acquisition circuit for collecting the voltage of the left resistance wire 90 as an example: A fixed end of the resistor 90 is electrically connected to the ground, and a sliding end of the resistor 90 is electrically connected to the third pin of the interface M2. The third pin of the interface M2 is electrically connected to the voltage divider circuit and the eleventh pin of the CPU chip U4. At the same time, resistor R1 and capacitor C3 are electrically connected. Resistor R1 is electrically connected to a +3.3V power supply, and capacitor C3 is electrically connected to the ground. The variable resistor R2 in the figure represents the resistor 90. This voltage divider circuit converts the resistance change of the resistor 90 caused by the rotation of the robotic arm 52 into a voltage change, which is collected by the CPU chip U4, so that the rotation position of the robotic arm 52 can be accurately determined.

[0036] The sliding end of the resistor wire 90 on the right is electrically connected to the 20th pin of the CPU chip U4 through an interface to collect the rotation position of the right mechanical arm 52.

[0037] like Figure 1 , Figure 4 , Figure 5 and Figure 8 As shown in the figure, there are two limit switch acquisition circuits, and the two limit switch acquisition circuits have the same structure, which are used to collect signals of the upper limit switch 44 and the lower limit switch 46 on the left and right sides respectively. The following is a detailed description of the limit switch acquisition circuit for collecting signals of the upper limit switch 44 and the lower limit switch 46 on the left side as an example: One of the two leads of the upper limit switch 44 is electrically connected to the ground, and the other is electrically connected to the fifth pin of the interface M1. The fifth pin of the interface M1 is electrically connected to the capacitor C18, the resistor R23 and the resistor R22 at the same time. The capacitor C18 is electrically connected to the ground, the resistor R23 is electrically connected to the +3.3V power supply, and the resistor R22 is electrically connected to the thirteenth pin of the CPU chip U4, so as to collect the signal of the upper limit switch 44. One of the two leads of the lower limit switch 46 is electrically connected to the ground, and the other is electrically connected to the fourth pin of the interface M1. The fourth pin of the interface M1 is electrically connected to the capacitor C19, the resistor R25 and the resistor R24 ​​at the same time. The capacitor C19 is electrically connected to the ground, the resistor R25 is electrically connected to the +3.3V power supply, and the resistor R24 ​​is electrically connected to the fourteenth pin of the CPU chip U4, so as to collect the signal of the lower limit switch 46.

[0038] One lead of the upper limit switch 44 on the right side is electrically connected to the ground, and the other lead is electrically connected to the 29th pin of the CPU chip U4 through the limit switch acquisition circuit. One lead of the lower limit switch 46 on the right side is electrically connected to the ground, and the other lead is electrically connected to the 28th pin of the CPU chip U4 through the limit switch acquisition circuit.

[0039] like Figure 1 , Figure 4 , Figure 5 and Fig.11 As shown in the figure, there are two proximity switch acquisition circuits, and the two proximity switch acquisition circuits have the same structure, which are used to collect signals of the proximity switches 91 on the left and right sides, respectively, so as to determine the descending position of the manipulator 70. The signal output end of the proximity switch 91 on the left side is electrically connected to a resistor R31, and the resistor R31 is electrically connected to the 33rd pin of the CPU chip U4. The signal output end of the proximity switch 91 on the right side is electrically connected to the 32nd pin of the CPU chip U4 through a resistor.

[0040] like Figure 4 , Figure 5 , Figure 6 and Figure 7As shown together, the power supply circuit includes a first circuit and a second circuit that output power supplies of different voltages.

[0041] like Figure 6 As shown, the first circuit includes a power management chip U1. In this embodiment, the preferred model of the power management chip U1 is LM22676-ADJ. The seventh pin of the power management chip U1 is electrically connected to the resistor R10, the capacitor C7, the positive electrode of the capacitor C6 and the negative electrode of the diode D2 at the same time. The positive electrode of the diode D2 is electrically connected to the total power supply. The resistor R10 is electrically connected to the fifth pin of the power management chip U1 and the resistor R11 at the same time. The negative electrode of the capacitor C6, the capacitor C7 and the resistor R11 are electrically connected to the ground. The eighth pin of the power management chip U1 is electrically connected to the capacitor C8, the cathode of the diode D3 and the inductor L1 at the same time, the capacitor C8 is electrically connected to the first pin of the power management chip U1, the inductor L1 is electrically connected to the resistor R12, the anode of the capacitor C9, the capacitor C10, the capacitor C11, and the second pin of the voltage stabilizing chip U2 at the same time, and outputs +8V power. The preferred model of the voltage stabilizing chip U2 in this embodiment is XC62FP3302PR, the third pin of the voltage stabilizing chip U2 is electrically connected to the anode of the capacitor C12 and the capacitor C13 at the same time, and outputs +3.3V power. The resistor R12 is electrically connected to the fourth pin of the power management chip U1 and the resistor R13 at the same time, the sixth pin, the ninth pin of the power management chip U1, the anode of the diode D3, the cathode of the capacitor C9, the capacitor C10, the cathode of the capacitor C11, the first pin of the voltage stabilizing chip U2, the cathode of the capacitor C12, the capacitor C13 and the resistor R13 are all electrically connected to the ground.

[0042] like Figure 7 As shown, the second circuit includes a voltage stabilizing chip U3. The preferred model of the voltage stabilizing chip U3 in this embodiment is LM1117MPX-ADJ. The third pin of the voltage stabilizing chip U3 is electrically connected to the positive electrode of the capacitor C14 and the +8V power supply at the same time. The second pin of the voltage stabilizing chip U3 is electrically connected to the fourth pin of the voltage stabilizing chip U3, the resistor R16, the positive electrode of the capacitor C15 and the resistor R18 at the same time. The resistor R18 outputs the +6V power supply. The resistor R16 is electrically connected to the first pin of the voltage stabilizing chip U3 and the resistor R17 at the same time. The negative electrode of the capacitor C14, the resistor R17 and the negative electrode of the capacitor C15 are electrically connected to the ground.

[0043] like Figure 4 and Figure 5As shown together, the alarm circuit includes an acoustic alarm circuit and an optical alarm circuit. The acoustic alarm circuit includes a resistor R4 electrically connected to the fourth pin of the CPU chip U4, the resistor R4 is electrically connected to the base of the transistor Q6, the emitter of the transistor Q6 is electrically connected to the ground, the collector of the transistor Q6 is electrically connected to the positive poles of the buzzer B1 and the diode D4, the negative poles of the buzzer B1 and the diode D4 are electrically connected to the resistor R3, and the resistor R3 is electrically connected to the +6V power supply. The optical alarm circuit includes a resistor R15 electrically connected to the 46th pin of the CPU chip U4, the resistor R15 is electrically connected to the positive pole of the light-emitting diode LED2, and also includes a resistor R14 electrically connected to the 45th pin of the CPU chip U4, the resistor R14 is electrically connected to the positive pole of the light-emitting diode LED1, and the negative poles of the light-emitting diode LED1 and the negative poles of the light-emitting diode LED2 are both electrically connected to the ground. The alarm circuit can emit an audible and visual alarm when the device completes the weight replacement or the movement of the component reaches the limit point. Embodiment 2

[0044] like Figure 1 , Figure 2 , Figure 5 and Fig.12 As shown in the figure, a control method of an automatic weight replacement device is implemented based on the automatic weight replacement device described in Example 1, and includes the following steps: Step S100, setting the measuring range, and calculating the number of times the large weight and the small weight need to be replaced according to the set measuring range, and then issuing a weight replacement instruction; Step S101, the left mechanical arm rotates and stops rotating after reaching the desired position; Step S102, the left robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens and closes its claws to grab a large weight; Step S103, the left robotic arm rises and stops rising after reaching the designated position; Step S104, the left mechanical arm rotates and stops rotating after reaching the desired position; Step S105, the left robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens its claws to put down the large weight; Step S106, the left mechanical arm rises and resets; Step S107, the left mechanical arm rotates and resets; Step S108, judging whether the large weight replacement times are completed, if not, returning to step S101, if yes, proceeding to the next step; Step S109, the right mechanical arm rotates and stops rotating after reaching the desired position; Step S110, the right robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens and closes its claws to grab a small weight; Step S111, the right robotic arm rises and stops rising after reaching the designated position; Step S112, the right mechanical arm rotates and stops rotating after reaching the desired position; Step S113, the right robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens its claws to put down the small weight; Step S114, the right robotic arm rises and resets; Step S115, the right mechanical arm rotates and resets; Step S116, determine whether the number of small weight replacements is completed, if not, return to step S109, if yes, the weight replacement is completed and the program ends.

[0045] The following is a detailed description of the above control method using the correction of a 0-1.6MPa pressure transmitter as an example: Preparation: First debug the pressure correction device 80, and make the center position of the weight plate 82 of the pressure correction device 80 coincide with the intersection of the arc trajectory of the two manipulators 70. To ensure that the two manipulators 52 do not interfere with each other when placing weights, in the initial state, the heights of the two manipulators 52 are at the position of the upper limit switch 44 on their side, facing inward, that is, the position coincident with the connection line of the two lead screws 30, and the two upper limit switches 44 are not at the same height. Place the 0.5MPa weight on the first weight tray 84 on the right (i.e., the weight tray close to the pressure correction device), and place the 0.1MPa weight on the first weight tray 84 on the left (i.e., the weight tray close to the pressure correction device).

[0046] The specific correction process is as follows: The pressure correction device first performs zero pressure correction on the pressure transmitter. At this time, no weight is required. After the zero correction is completed, the second step is to correct the full-scale pressure. At this time, the weight needs to be increased to 1.6MPa, that is, three 0.5MPa weights plus one 0.1MPa weight. The automatic weight replacement device of the present invention is powered on, and the control program starts running: Step S100, the control system completes initialization, and sets the correction range to 1.6MPa through the serial communication instruction. The control system calculates the need to place three large weights (i.e., 0.5MPa weights) and one small weight (i.e., 0.1MPa weight) based on the set range and weight, and then issues the device operation instruction to proceed to the next step.

[0047] Step S101, the swing arm motor 60 on the left rotates counterclockwise (viewed from top to bottom), when the voltage collected by the precision resistance wire 90 is 1.7V, the manipulator 70 is directly above the first weight tray 84 on the right, the swing arm motor 60 stops working, and the manipulator 52 stops rotating.

[0048] Step S102, the left lifting motor 20 rotates counterclockwise (from right to left), driving the lead screw 30 to rotate counterclockwise (from top to bottom), the nut 32 moves downward, and the left mechanical arm 52 descends while the steering gear 74 controls the manipulator 70 to complete the claw opening action. When the proximity switch 91 outputs a high level, the 33rd pin of the CPU chip U4 generates a rising edge interrupt, and the program determines that the left manipulator 70 has descended to the height of the weight tray 84 stacking the weights. At this time, the edge of the clamp is just at the edge of the weight, the lifting motor 20 stops working, the descending action stops, and the steering gear 74 controls the manipulator 70 to complete the claw closing action, grabbing a large weight of 0.5MPa, and the grabbing action is completed.

[0049] Step S103, the lifting motor 20 on the left rotates clockwise (viewed from right to left), driving the lead screw 30 to rotate clockwise (viewed from top to bottom), and the left mechanical arm 52 rises. When the upper limit switch 44 sends a signal, the lifting motor 20 stops working and the mechanical arm 52 stops rising.

[0050] Step S104, the swing arm motor 60 on the left rotates counterclockwise, and when the voltage collected by the precision resistance wire 90 is 2.0V, the manipulator 70 is directly above the weight plate 82 of the pressure correction device 80, the swing arm motor 60 stops working, and the manipulator 52 stops rotating.

[0051] Step S105, the lifting motor 20 on the left rotates counterclockwise (viewed from right to left), the robot arm 52 descends, and when the proximity switch 91 outputs a high level, the 33rd pin of the CPU chip generates a rising edge interrupt. The program determines that at this time, the weight in the gripper is just above the weight plate 82 of the pressure correction device 80 and close to the weight plate 82. The servo 74 controls the robot arm 70 to complete the jaw opening action and place the large weight on the weight plate 82.

[0052] Step S106, the left lifting motor 20 rotates clockwise (from right to left), and the mechanical arm 52 rises until the upper limit switch 44 sends a signal of arrival, the lifting motor 20 stops rotating, and the mechanical arm 52 rises and resets. While the mechanical arm 52 moves upward, the manipulator 70 completes the claw closing action.

[0053] Step S107, the swing arm motor 60 on the left rotates clockwise. When the voltage collected by the precision resistance wire 90 is 1.5V, the manipulator 70 is at the position where the two lead screws 30 are connected, that is, the initial position, the swing arm motor 60 stops rotating, and the manipulator 52 rotates to reset.

[0054] Step S108, determine whether the placement of the large weight has been completed three times. If not, return to step S101 and repeat the above steps. If it has been completed three times, proceed to the next step to grab and place the small weight.

[0055] Step S109, the swing arm motor 60 on the right rotates clockwise (viewed from top to bottom), and when the voltage collected by the precision resistance wire 90 is 1.7V, the robot 70 is located directly above the first weight tray 84 on the left and stops rotating.

[0056] Step S110, the lifting motor 20 on the right rotates counterclockwise (from left to right), driving the mechanical arm 52 to descend. While the mechanical arm 52 descends, the steering gear 74 controls the manipulator 70 to complete the claw opening action. When the proximity switch 91 outputs a high level, the 32nd pin of the CPU chip U4 generates a rising edge interrupt, and the program determines that the manipulator 70 on the right has descended to the height of the weight tray stacked with weights, and the edge of the gripper is just at the edge of the weight. The descending action stops, and the steering gear 74 controls the manipulator 70 to complete the claw closing action, grabbing a small weight of 0.1MPa, and the grabbing action is completed.

[0057] Step S111, the lifting motor 20 on the right rotates clockwise (from left to right), and the mechanical arm 52 on the right rises. When the upper limit switch 44 on the right sends a signal, the lifting motor 20 stops rotating and the mechanical arm 52 stops rising.

[0058] Step S112, the swing arm motor 60 on the right rotates clockwise, and when the voltage collected by the precision resistance wire 90 is 2.0V, the manipulator 70 is directly above the weight plate 82 of the pressure correction device 80, and the manipulator 52 stops rotating.

[0059] Step 113, the lifting motor 20 on the right rotates counterclockwise (from left to right), the robot arm 52 descends, and when the proximity switch 91 outputs a high level, the program determines that the weight in the gripper is just above the weight plate 82 and close to the weight plate 82, the servo 74 controls the robot arm 70 to complete the jaw opening action, and the small weight is placed.

[0060] Step S114, the lifting motor 20 on the right rotates clockwise (from left to right), and the mechanical arm 52 rises until the upper limit switch 44 sends a signal of arrival, the lifting motor 20 stops rotating, and the mechanical arm 52 rises and resets. While the mechanical arm 52 moves upward, the manipulator 70 completes the claw closing action.

[0061] Step S115, the swing arm motor 60 on the right rotates counterclockwise. When the voltage collected by the precision resistance wire 90 is 1.5V, the manipulator 70 is at the position where the two lead screws 30 are connected, that is, the initial position, the swing arm motor 60 stops rotating, and the manipulator 52 rotates to reset.

[0062] S116: The number of placements of the small weights is completed and the program ends.

[0063] The above only describes the control process of placing weights on the pressure correction device. The process of taking weights down from the pressure correction device is the opposite of the above control. A person skilled in the art can derive the specific implementation steps based on the above description without any creative work. To save space, it will not be described in detail here.

[0064] In summary, the automatic weight replacement device and control method thereof of the present invention can automatically replace weights, save time and labor, and have high work efficiency. In addition, the device has a simple structure, a small size, and a low cost.

[0065] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work are all within the protection scope of the present invention.

Claims

1. Automatic weight changing device, characterized in that: The invention comprises two sets of manipulator assemblies arranged opposite to each other, and a plurality of weight trays (84) arranged between the two sets of the manipulator assemblies; the manipulator assemblies comprise a manipulator (70) which can be lifted and lowered and rotated horizontally under the drive of a power device; the weight trays (84) are arranged opposite to each other in two groups, and the weight trays (84) of the same group are all located on the rotation arc of the manipulator (70) of the manipulator assembly which is farther away from the manipulator; a pressure correction device (80) is arranged at one end of the two sets of weight trays (84), and the weight disc (82) on the pressure correction device (80) is located at the intersection of the rotation arcs of the two manipulators (70); It also includes a control system for controlling the two manipulators (70) to replace weights between the weight plate (82) and each weight tray (84).

2. The automatic weight replacement device according to claim 1, characterized in that: The power device comprises a lifting motor (20) and a swing arm motor (60); The lifting motor (20) is transmission-connected to a vertically arranged lead screw (30), the two ends of the lead screw (30) are rotatably mounted on the base (10) and the top plate (12) respectively, a nut (32) is threadedly mounted on the lead screw (30), a mounting plate (50) is fixed on the nut (32), the swing arm motor (60) is fixed on the mounting plate (50), a mechanical arm (52) is fixed on the power output shaft of the swing arm motor (60), and the mechanical arm (70) is mounted on the end of the mechanical arm (52).

3. The automatic weight replacement device according to claim 2, characterized in that: A linear guide rail (40) is vertically mounted on each side of the mounting plate (50) and the swing arm motor (60); a slider (42) of the linear guide rail (40) is fixedly connected to the mounting plate (50); two ends of the linear guide rail (40) are respectively fixed to the base (10) and the top plate (12); an upper limit switch (44) and a lower limit switch (46) are mounted on one of the linear guide rails (40).

4. The automatic weight replacement device according to claim 3, characterized in that: A semi-annular resistance wire (90) is also mounted on the mounting plate (50), with two ends of the resistance wire (90) respectively fixed on the two sliders (42), and a sliding end of the resistance wire (90) fixed on the mechanical arm (52).

5. The automatic weight replacement device according to claim 4, characterized in that: The manipulator (70) comprises a main clamping jaw (72), the main clamping jaw (72) comprising two half-jaws arranged opposite to each other, one end of the two half-jaws being provided with meshing transmission teeth (720), one of the half-jaws being transmission-connected to a steering gear (74); the rear parts of the two half-jaws are both connected to auxiliary jaws (73), one of the half-jaws being provided with a proximity switch (91).

6. The automatic weight replacement device according to claim 5, characterized in that: The control system includes a CPU circuit, and the CPU circuit is electrically connected to a lifting motor control circuit, a swing arm motor control circuit, a steering gear control circuit, a collection circuit and an alarm circuit; and also includes a power supply circuit for supplying power to the CPU circuit, the lifting motor control circuit, the swing arm motor control circuit, the steering gear control circuit, the collection circuit and the alarm circuit.

7. The automatic weight replacement device according to claim 6, characterized in that: The CPU circuit includes a CPU chip U4, the fifteenth, sixteenth, twenty-sixth and twenty-seventh output pins of the CPU chip U4 are electrically connected to the lifting motor control circuit, the seventeenth, eighteenth, thirty-ninth and forty-fourth output pins of the CPU chip U4 are electrically connected to the swing arm motor control circuit, the nineteenth and twenty-second output pins of the CPU chip U4 are electrically connected to the servo control circuit, the eleventh, twelfth, thirteenth, fourteenth, twenty-eighth, twenty-ninth, thirty-second and thirty-third input pins of the CPU chip U4 are electrically connected to the acquisition circuit, and the fourth, forty-fifth and forty-sixth output pins of the CPU chip U4 are electrically connected to the alarm circuit.

8. The automatic weight replacement device according to claim 7, characterized in that: The lifting motor control circuit comprises two lifting motor drive chips, the input pins of the two lifting motor drive chips are respectively electrically connected to the fifteenth pin, the sixteenth pin, the twenty-sixth pin and the twenty-seventh pin of the CPU chip U4, and the output pins of the two lifting motor drive chips are respectively electrically connected to the signal ends of the two lifting motors (20); the swing arm motor control circuit comprises two swing arm motor drive chips, the input pins of the two swing arm motor drive chips are respectively electrically connected to the seventeenth pin, the eighteenth pin, the thirty-ninth pin and the fortieth pin of the CPU chip U4, and the output pins of the two swing arm motor drive chips are respectively electrically connected to the signal ends of the two swing arm motors (60); the servo control circuit comprises two servo interfaces respectively electrically connected to the two servos (74), and the three pins of the servo interfaces are respectively electrically connected to the positive power supply, the nineteenth or twentieth pin of the CPU chip U4 and the ground.

9. The automatic weight replacement device according to claim 7, characterized in that: The acquisition circuit comprises a voltage acquisition circuit for acquiring the voltage of the two resistance wires (90), a limit switch acquisition circuit and a proximity switch acquisition circuit, the voltage acquisition circuit being electrically connected to the eleventh pin and the twelfth pin of the CPU chip U4, the limit switch acquisition circuit being electrically connected to the thirteenth pin, the fourteenth pin, the twenty-eighth pin and the twenty-ninth pin of the CPU chip U4, and the proximity switch acquisition circuit being electrically connected to the thirty-second pin and the thirty-third pin of the CPU chip U4.

10. A control method for an automatic weight replacement device, characterized in that: The automatic weight replacement device is implemented based on any one of claims 1 to 9, and comprises the following steps: Step S100, setting the measuring range, and calculating the number of times the large weight and the small weight are replaced according to the set measuring range, and then issuing the device operation instruction; Step S101, the left mechanical arm rotates and stops rotating after reaching the desired position; Step S102, the left robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens and closes its claws to grab a large weight; Step S103, the left robotic arm rises, and stops rising after reaching the designated position; Step S104, the left mechanical arm rotates and stops rotating after reaching the desired position; Step S105, the left robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens its claws to put down the large weight; Step S106, the left mechanical arm rises and resets; Step S107, the left mechanical arm rotates and resets; Step S108, judging whether the large weight replacement times are completed, if not, returning to the step S101, if yes, proceeding to the next step; Step S109, the right mechanical arm rotates and stops rotating after reaching the desired position; Step S110, the right robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens and closes its claws to grab a small weight; Step S111, the right robotic arm rises and stops rising after reaching the designated position; Step S112, the right mechanical arm rotates and stops rotating after reaching the desired position; Step S113, the right robotic arm descends, stops descending after reaching the designated position, and the robotic arm opens its claws to put down the small weight; Step S114, the right mechanical arm rises and resets; Step S115, the right mechanical arm rotates and resets; Step S116, determine whether the number of small weight replacements is completed, if not, return to step S109, if yes, the weight replacement is completed and the program ends.

Images