A mobile weighing device, a weighing method, a weighing system, and a storage medium

Abstract

The application discloses a mobile weighing device, which comprises a mobile main body, a weighing sensor, a load piece, a driving mechanism and a material moving assembly. The weighing sensor has a fixed end connected with the mobile main body and a loading end away from the fixed end. The load piece has a disengaging position away from the weighing sensor and a hanging position hung on the loading end of the weighing sensor. The driving mechanism is used for driving the load piece to switch between the disengaging position and the hanging position. In the hanging position, the driving mechanism is disengaged from the load piece. The material moving assembly is arranged on the load piece. The application can weigh workpieces during carrying, and the weighing sensor is in an empty state during carrying. When weighing, the surrounding structure does not interfere with the weighing sensor, accurate weighing of the workpieces is realized, and the service life of the weighing sensor is prolonged. The application further discloses a weighing method, a weighing system and a storage medium, and the weighing operation can be performed by the mobile weighing device.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and in particular to a mobile weighing device, weighing method, weighing system, and storage medium. Background Technology

[0002] The existing workpieces are transported by grippers. The robotic arm with grippers holds the workpieces and places them on the weighing platform. After weighing, the workpieces are clamped and moved away. In the above transportation and weighing process, the clamping and transportation of the workpieces and the accurate weighing are separate. A separate weighing station needs to be made. The weighing and clamping process is cumbersome and time-consuming, which affects the production efficiency of the entire line.

[0003] In addition, some existing technologies have grippers that integrate workpiece clamping and weighing functions. During the process of the robotic arm handling the workpiece, the load cell is under load. The acceleration and off-center load during the handling process affect the accuracy of the load cell and may even damage the sensor. Summary of the Invention

[0004] To address the aforementioned technical problems, the first objective of this invention is to provide a mobile weighing device that enables the weighing of workpieces during transport. During transport, the weighing sensor must be in an unloaded state to prevent damage from additional loads. During weighing, the surrounding structure does not interfere with the weighing sensor, effectively achieving accurate weighing of the workpiece and improving the service life of the weighing sensor.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: a mobile weighing device, comprising a mobile body, a weighing sensor, a load-bearing component, a drive mechanism, and a material transfer assembly;

[0006] The weighing sensor has a fixed end connected to the moving body and a loading end away from the fixed end;

[0007] The load-bearing component is movably disposed relative to the weighing sensor, having a disengaged position that is detached from the weighing sensor, and a suspended position that is suspended on the loading end of the weighing sensor.

[0008] The drive mechanism is mounted on the moving body and is used to drive the load-bearing component to switch back and forth between a disengaged position and a suspended position; in the suspended position, the drive mechanism disengages from the load-bearing component.

[0009] The material transfer assembly is mounted on a load-bearing component and is used to transfer workpieces.

[0010] Furthermore, the material transfer component is at least one of a gripper, a suction cup, a tray, a chuck, and a magnetic suction head.

[0011] Furthermore, the loading end of the weighing sensor is provided with a cantilever block; the load-bearing component is sleeved on the cantilever block; in the disengaged position, a gap space is formed between the load-bearing component and the cantilever block; in the suspended position, the load-bearing component is hung on the cantilever block.

[0012] Furthermore, a guide fit structure is provided between the opposing surfaces of the load-bearing component and the cantilever block for positioning the load-bearing component in the suspended position.

[0013] Furthermore, the guiding and mating structure includes a first inclined surface and a second inclined surface; two first inclined surfaces are respectively arranged oppositely on both sides of the cantilever block in the length direction and on both sides of the width direction; a second inclined surface is provided on the opposite side of the load-bearing component corresponding to the first inclined surface; at the suspension position, the first inclined surface and the second inclined surface at the corresponding positions are in contact with each other.

[0014] Furthermore, the mobile weighing device includes a monitoring device for acquiring real-time status data of the material transfer component; when the status data exceeds a preset data range, the drive mechanism drives the load-bearing component to move from the detached position to the suspended position.

[0015] Furthermore, the monitoring device is a gyroscope; the status data are acceleration and angle.

[0016] Furthermore, a guide engagement structure is provided between the load-bearing component and the cantilever block to guide the load-bearing component to move between the disengaged position and the suspended position.

[0017] The second objective of this invention is to provide a weighing method that enables the handling and accurate weighing of workpieces by moving a weighing device.

[0018] To achieve the above objectives, the technical solution of the present invention is as follows: a weighing method, the weighing method comprising the following steps:

[0019] S1. With the mobile weighing device in its initial state, control the material transfer assembly to grab the workpiece; in the initial state, the load-bearing component is in the disengaged position;

[0020] S2. Drive the moving body to move, and move the workpiece to a preset position; at the preset position, the workpiece is in a suspended state;

[0021] S3. Control the drive mechanism to move the load-bearing component from the disengaged position to the suspended position;

[0022] S4. The load cell weighs the object and generates a data signal.

[0023] Furthermore, step S21 is set after step S2; step S21 is as follows:

[0024] Real-time acquisition of status data of the material transfer component;

[0025] Based on the status data, determine whether the transfer component meets the preset data range at its current position; if it does not meet the data range, do not execute step S3; if it does meet the data range, execute step S3.

[0026] Furthermore, the state data includes acceleration and angle.

[0027] Furthermore, the weighing method includes step S7; step S7 is as follows:

[0028] Real-time acquisition of status data of the material transfer component in steps S3 and S4;

[0029] Based on the status data, determine whether the transfer component meets the preset data range at its current position; if it does, maintain the execution state of steps S3 and S4; if it does not, drive the load-bearing component to switch to the detachment position.

[0030] Furthermore, the following steps are included after step S4:

[0031] S5. Control the drive mechanism to move the load-bearing component from the suspended position to the disengaged position;

[0032] S6. Control the transfer component to release the workpiece at the first preset position, or control the transfer component to move to the second preset position and then release the workpiece.

[0033] The third objective of this invention is to provide a weighing system that enables the weighing method described above.

[0034] To achieve the above objectives, the technical solution of the present invention is as follows: a weighing system, comprising a memory and a processor; the memory is used to store a program; the processor is used to implement the aforementioned weighing method by running the program in the memory.

[0035] The fourth objective of this invention is to provide a storage medium capable of implementing the aforementioned weighing method.

[0036] To achieve the above objectives, the technical solution of the present invention is as follows: a storage medium storing a computer program, which, when executed, implements the aforementioned weighing method.

[0037] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0038] 1. This invention enables the weighing of workpieces during the handling process without placing them on a separate weighing platform, saving a weighing station, weighing time, improving the efficiency of the entire line, and saving production line space and costs.

[0039] 2. During the handling process, the weighing sensor is in an unloaded state, and the acceleration and off-center load brought about by the handling process have no effect on the weighing sensor, thus effectively improving the service life of the weighing sensor. During weighing, the surrounding structure does not interfere with the weighing sensor, effectively achieving accurate weighing of the workpiece.

[0040] 3. This invention can protect the weighing sensor from damage when dealing with faults and interference, thereby effectively improving the service life of the weighing sensor. Attached Figure Description

[0041] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0042] Figure 1 This is a three-dimensional structural diagram of the overall structure of Embodiment 1 of the present invention;

[0043] Figure 2 for Figure 1 A side view structural diagram;

[0044] Figure 3 for Figure 2 Sectional view at point AA;

[0045] Figure 4 for Figure 2 A structural diagram showing the load-bearing component in its disengaged position.

[0046] Figure 5 for Figure 1 Internal structure diagram;

[0047] Figure 6 for Figure 5 A three-dimensional structural diagram from another perspective;

[0048] Figure 7 A three-dimensional structural diagram of the load-bearing component and the cantilever block;

[0049] Figure 8 This is a flowchart of the weighing method of the present invention;

[0050] Figure 9 This is a cross-sectional view of Embodiment 2 of the present invention.

[0051] The components include: 1. Moving body; 11. Limiting column; 12. Display screen; 2. Weighing sensor; 3. Cantilever block; 31. First inclined surface; 4. Load-bearing component; 41. Limiting recess; 42. Second inclined surface; 5. Drive mechanism; 6. Material transfer assembly. Detailed Implementation

[0052] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0053] Example 1

[0054] like Figure 1-7 The image shows a mobile weighing device according to this embodiment. The mobile weighing device includes a mobile body 1, a weighing sensor 2, a load-bearing component 4, a drive mechanism 5, a material transfer assembly 6, and other components or assemblies.

[0055] The transfer component 6 is used to transfer objects. The transfer component 6 can be an electric gripper, suction cup, tray, magnetic suction head, or a clamp head adapted to the object to be transferred. During the transfer process, the weight of the object to be transferred is entirely borne by the transfer component 6, which facilitates detection by the weighing sensor 2.

[0056] The moving body 1 is a shell or box structure, and a weighing sensor 2, a load cell 4, a drive mechanism 5, and a material transfer assembly 6 are installed inside it. The moving body 1 is fixedly connected to the robotic arm, and the movement of the robotic arm drives the moving body 1 to move.

[0057] The aforementioned load cell 2 is a conventional component in the prior art, having a fixed end and a loading end located away from the fixed end. By applying a load to the loading end of the load cell, the weight of the load can be detected. In this embodiment, the fixed end of the load cell 2 is fixedly connected to the moving body 1.

[0058] The aforementioned load-bearing component 4 is movably disposed relative to the load cell 2, having a disengaged position (detached from the load cell 2) and a suspended position (suspended on the loading end of the load cell 2). In this embodiment, the disengaged and suspended positions are located on the upper and lower sides. Specifically, a cantilever block 3 is connected to the loading end of the load cell 2. The end of the cantilever block 3 furthest from the load cell 2 forms a free end. The load-bearing component 4 is fitted onto the periphery of the cantilever block 3 through its inner cavity. In the aforementioned disengaged position, a gap space is formed between the load-bearing component 4 and the cantilever block 3, so that the load-bearing component 4 has no contact with the cantilever block 3. In the suspended position, the load-bearing component 4 is in contact with the cantilever block 3, so that the load-bearing component 4 hangs on the cantilever block 3 with its entire weight, thereby enabling the load cell 2 to measure the overall weight of the cantilever block 3 and the load-bearing component 4.

[0059] In this embodiment, the aforementioned transfer assembly 6 is fixed to the load-bearing component 4, thereby enabling the weighing sensor 2 to measure the overall weight of the cantilever block 3, the load-bearing component 4, and the transfer assembly 6. The transfer assembly 6 is a conventional device in the prior art, capable of gripping and releasing workpieces. The transfer assembly 6 is at least one of the following in the prior art: gripper, suction cup, tray, chuck, and magnetic suction head. Through this transfer assembly 6, workpieces can be gripped and released, thereby achieving workpiece transfer.

[0060] The aforementioned drive mechanism 5 is fixedly mounted on the moving body 1, and is used to drive the load 4 to switch back and forth between a disengaged position and a suspended position. In the disengaged position, the load 4 abuts against the moving body 1 and the drive end of the drive mechanism 5 to limit and fix the moving body 1. In the suspended position, the drive end of the drive mechanism 5 disengages from the load 4, so that it does not have any positional contact with the load 4, and therefore the drive mechanism 5 does not apply a load to the load 4. In this embodiment, the drive mechanism 5 can be an electric push rod, a cylinder, a hydraulic cylinder, a linkage mechanism, a chain, a lead screw and nut mechanism, etc.

[0061] The mobile weighing device in this embodiment includes a monitoring device. This monitoring device is used to acquire the status data of the transfer component 6 in real time. When the status data is within a preset data range, the drive mechanism 5 drives the load 4 from the disengaged position to the suspended position. Through monitoring by the monitoring device, weighing is performed when the entire mobile weighing device is in a stable state, improving weighing accuracy. Specifically, the aforementioned monitoring device is a gyroscope, and the aforementioned status data is acceleration and angle. When the acceleration is 0 (i.e., the mobile weighing device is stationary) and when the angle is 0 (i.e., the mobile weighing device is vertically downward), the load 4 is driven to the suspended position for weighing, thereby achieving accurate weighing. In actual implementation, the preset angle is a small range; when the detected value enters this range, it is determined that the transfer component is in a vertical state.

[0062] In this embodiment, a plurality of limiting posts 11 are arranged on the moving body 1. Limiting recesses 41 are machined on the load-bearing component 4 corresponding to the limiting posts 11. When the load-bearing component 4 moves to the aforementioned disengagement position, the ends of the limiting posts 11 and the limiting recesses 41 are inserted into and abut against each other to achieve the positioning of the load-bearing component 4.

[0063] The aforementioned limiting recess 41 is constructed as a conical or hemispherical recess. Correspondingly, the end of the limiting post 11 is conical or spherical. Through this structural design, the end of the limiting post 11 and the limiting recess 41 guide and cooperate with each other to achieve accurate positioning of the load-bearing component 4, ensuring that the load-bearing component 4 moves to the same disengagement position each time. In particular, when the load-bearing component 4 experiences a slight deviation, the end of the limiting post 11 and the limiting recess 41 guide and cooperate with each other to correct the position of the load-bearing component 4.

[0064] In this embodiment, a guide fit structure is machined between the opposing surfaces of the load-bearing component 4 and the cantilever block 3 to position the load-bearing component in the suspended position. This guide fit structure ensures that the load-bearing component 4 moves to the same load position each time. The guide fit structure includes a first inclined surface 31 and a second inclined surface 42. Two first inclined surfaces 31 are machined on the opposing surfaces of the cantilever block 3 on both sides in the length direction (left and right sides in this embodiment) and both sides in the width direction (front and rear sides in this embodiment). These two first inclined surfaces 31 are arranged opposite each other. For example, in the two first inclined surfaces 31 arranged left and right, the lower inclined ends of the two first inclined surfaces 31 are close to each other, while the upper inclined ends are set away from each other on their respective left and right sides. The arrangement of the two first inclined surfaces 31 arranged front and rear is similar. A second inclined surface 42 is machined on the opposing surface of the load-bearing component 4 corresponding to the first inclined surface 41. When the load-bearing component 4 is in the suspended position, the corresponding first inclined surfaces 41 and second inclined surfaces 42 fit together to achieve the positioning of the load-bearing component 4 in the suspended position.

[0065] The mobile weighing device in this embodiment includes a display screen 12, which is arranged on the mobile body 1. The display screen 12 is used to display the load data of the weighing sensor 2 and / or display data calculated based on the load data of the weighing sensor 2.

[0066] The mobile weighing device includes a communication module that can transmit test data to an external control system.

[0067] like Figure 3 As shown, the mobile weighing device is in the weighing state, at which point the robotic arm stops moving, and the entire mobile weighing device is in a static, suspended state. The load 4 is in the suspended position, and the drive mechanism 5 is detached from the load 4. The total weight of the transfer assembly 6, the workpiece, the load 4, and the cantilever block 3 is obtained by reading from the load cell 2. Subtracting the weights of the transfer assembly 6, the load 4, and the cantilever block 3 yields the weight information of the workpiece. During weighing, the surrounding structures do not interfere with the load cell 2, effectively achieving accurate weighing of the workpiece.

[0068] like Figure 4 As shown, the mobile weighing device is in the moving and transporting state, at which time the robotic arm drives the moving body 1 to move. The load 4 is in the detached position and does not contact the weighing sensor 2, so that the sensor only bears the load of one cantilever block 3. This keeps the weighing sensor 2 in an unloaded state, and the acceleration and off-center load during the transport process have no effect on the weighing sensor 2, thus effectively improving the service life of the weighing sensor 2.

[0069] Through the above structural design, the mobile weighing device can weigh workpieces during the handling process without placing them on a separate weighing platform, saving a weighing station and weighing time, improving the efficiency of the entire line, and saving production line space and costs.

[0070] like Figure 8 As shown, this embodiment proposes a weighing method that enables the handling and accurate weighing of workpieces through a mobile weighing device.

[0071] A weighing method comprising the following steps:

[0072] S1. With the mobile weighing device in its initial state, the control transfer assembly 6 grips the workpiece. In this initial state, the drive mechanism 5 drives the load 4 to the disengaged position.

[0073] S2. The robotic arm drives the moving body 1 to move, moving the workpiece to a preset position. At this preset position, the workpiece is suspended in the air.

[0074] S3, control drive mechanism 5 to move load component 4 from the disengaged position to the suspended position;

[0075] S4. Weighing sensor 2 performs weighing and generates data signals;

[0076] S5, control drive mechanism 5 to drive load 4 from the suspended position to the disengaged position;

[0077] S6. Control the transfer component 6 to release the workpiece at the first preset position, or control the transfer component 6 to move to the second preset position and then release the workpiece.

[0078] Step S21 is set after step S2. Step S21 determines whether the moving body 1 and the material transfer assembly 6 in step 2 are in a static, upright state. Step S21 is as follows:

[0079] a) The aforementioned monitoring device acquires real-time status data of the material transfer component 6, including acceleration and angle. The acceleration is used to determine whether the mobile weighing device is stationary, and the angle is used to determine whether the mobile weighing device is upright.

[0080] b) Determine whether the transfer component 6 meets the preset data range at its current position based on the status data. If it does not meet the range, do not execute step S3. If it does meet the range, execute step S3.

[0081] The weighing method in this embodiment includes step S7; step S7 is as follows:

[0082] a1) Real-time acquisition of the status data of the material transfer component 6 in steps S3 and S4;

[0083] b1) Based on the status data, determine whether the transfer component 6 meets the preset data range at the current position; if it does, maintain the execution state of steps S3 and S4; if it does not, control the drive mechanism 5 to drive the load 4 to switch to the disengagement position.

[0084] In step S7, if the monitoring device detects that the material transfer component 6 has an acceleration or angular deviation that exceeds the range due to factors such as malfunction or interference during the execution of steps S3 and S4, the drive mechanism 5 will immediately act to separate the load 4 and the weighing sensor 2 from each other, so as to prevent the overall movement from causing damage to the weighing sensor 2 and effectively improve the service life of the weighing sensor 2.

[0085] This embodiment proposes a weighing system capable of implementing the aforementioned weighing method. The weighing system includes a memory and a processor; the memory stores a program; the processor executes the program in the memory to implement the weighing method.

[0086] This embodiment proposes a storage medium capable of implementing the aforementioned weighing method. The storage medium stores a computer program, which, when executed, implements the aforementioned weighing method.

[0087] Example 2

[0088] like Figure 9 As shown, compared to the mobile weighing device in Embodiment 1, Embodiment 2 improves the structure of the cantilever block 3 and the load-bearing component 4, making the overall structure more compact. Specifically, the cantilever block 3 is positioned below the loading end of the weighing sensor 2, the load-bearing component 4 is sleeved on the cantilever block 3, and the material transfer assembly 6 is located directly below the loading end of the weighing sensor 2.

[0089] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A weighing method using a mobile weighing device, the mobile weighing device comprising a mobile main body, a weighing sensor, a load-bearing component, a drive mechanism, and a material transfer assembly; characterized in that: The weighing sensor has a fixed end connected to the moving body and a loading end away from the fixed end; The load-bearing component is movably disposed relative to the weighing sensor, having a disengaged position that is detached from the weighing sensor, and a suspended position that is suspended on the loading end of the weighing sensor. The drive mechanism is mounted on the moving body and is used to drive the load-bearing component to switch between a disengaged position and a suspended position; in the suspended position, the drive mechanism disengages from the load-bearing component. The material transfer assembly is connected to the load-bearing component and is used to transfer the workpiece; The weighing method includes the following steps: S1. With the mobile weighing device in its initial state, control the material transfer assembly to grab the workpiece; in the initial state, the load-bearing component is in the disengaged position; S2. Drive the moving body to move, and move the workpiece to a preset position; at the preset position, the workpiece is in a suspended state; S3. Control the drive mechanism to move the load-bearing component from the disengaged position to the suspended position; S4. The load cell weighs the object and generates a data signal.

2. The weighing method of a mobile weighing device according to claim 1, characterized in that: The material transfer component is at least one of the following: gripper, suction cup, tray, chuck, and magnetic suction head.

3. The weighing method of a mobile weighing device according to claim 1, characterized in that: The load end of the weighing sensor is provided with a cantilever block; the load-bearing component is sleeved on the cantilever block; in the disengaged position, a gap space is formed between the load-bearing component and the cantilever block; in the suspended position, the load-bearing component is hung on the cantilever block.

4. The weighing method of a mobile weighing device according to claim 3, characterized in that: A guide fit structure is provided between the opposite surfaces of the load-bearing component and the cantilever block for positioning the load-bearing component in the suspension position.

5. The weighing method of a mobile weighing device according to claim 4, characterized in that: The guiding and mating structure includes a first inclined surface and a second inclined surface; two first inclined surfaces are respectively arranged oppositely on both sides of the cantilever block in the length direction and on both sides of the width direction; a second inclined surface is provided on the opposite side of the load-bearing component corresponding to the first inclined surface; at the suspension position, the first inclined surface and the second inclined surface at the corresponding position are in contact with each other.

6. The weighing method of a mobile weighing device according to claim 1, characterized in that: The mobile weighing device includes a monitoring device for acquiring real-time status data of the material transfer component; when the status data exceeds a preset data range, the drive mechanism drives the load-bearing component to switch to the disengagement position.

7. The weighing method of a mobile weighing device according to claim 6, characterized in that: The monitoring device is a gyroscope; the status data are acceleration and angle.

8. A weighing method for a mobile weighing device according to any one of claims 1-7, characterized in that: Step S21 is set after step S2; step S21 is as follows: Real-time acquisition of status data of the material transfer component; Based on the status data, determine whether the transfer component meets the preset data range at its current position; if it does not meet the data range, do not execute step S3; if it does meet the data range, execute step S3.

9. The weighing method of a mobile weighing device according to claim 8, characterized in that: The state data includes acceleration and angle.

10. A weighing method for a mobile weighing device according to any one of claims 1-7, characterized in that: The weighing method includes step S7; step S7 is as follows: Real-time acquisition of status data of the material transfer component in steps S3 and S4; Based on the status data, determine whether the transfer component meets the preset data range at its current position; if it does, maintain the execution state of steps S3 and S4; if it does not, drive the load-bearing component to switch to the detachment position.

11. A weighing method for a mobile weighing device according to any one of claims 1-7, characterized in that: The following steps are included after step S4: S5. Control the drive mechanism to move the load-bearing component from the suspended position to the disengaged position; S6. Control the transfer component to release the workpiece at the first preset position, or control the transfer component to move to the second preset position and then release the workpiece.

12. A weighing system, characterized in that: It includes a memory and a processor; the memory is used to store a program; the processor is used to implement the weighing method as described in any one of claims 1-11 by running the program in the memory.

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