Measuring device and method for fully automatically and continuously measuring product density

Abstract

The invention belongs to the technical field of product density measurement, and particularly relates to a measuring device and method for fully automatically and continuously measuring product density. According to the device, a shell is arranged on the upper portion of a workbench, a robot arm used for grabbing products is arranged in the shell and on the upper surface of the workbench, a plurality of volume measuring devices are arranged on the left side of the robot arm, and a weighing balance used for weighing the products is arranged on the front side of the robot arm; a turnover device is arranged on the right side of the robot arm and comprises a transfer device and a shelving device, the shelving device is located on the right side of the weighing balance, the transfer device is located on the right side of the shelving device, the turnover device further comprises a longitudinally-arranged conveying device, and the front end of the conveying device is located in the shell. The rear end of the conveying device extends out of the outer shell. The tray is used for placing products. The device can reduce the working intensity of workers, and greatly improves the product density measurement efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of product density measurement, and in particular relates to a measuring device and method for fully-automatically and continuously measuring product density. Background Art

[0002] The products produced in a certain workshop are cylindrical in shape. After a batch of products are produced and formed, the process requires that the density of each product be measured. After the measurement, the products whose density does not meet the standard requirements are selected out.

[0003] The density measuring device used in the workshop includes a workbench, a weighing balance fixed on the workbench surface, a volume measuring device, a hanging basket, and a shelf. The workbench is fixed with a shell covering the weighing balance, the volume measuring device and the shelf, and the shell is provided with a window door.

[0004] The method by which the density measuring device measures the density of a product is:

[0005] S1. The worker opens the window door on the front side of the housing, and then places the product to be measured on the shelf, and ensures that the product is placed at the designated position of the shelf to complete the loading of the product;

[0006] S2, manually fix the product on the shelf, and then put the product on the weighing scale, weigh the product by the weighing scale, and the weighing scale manually records the weighed weight;

[0007] S3. After weighing, the product is placed in the detection station of the volume measuring device through the hanging basket, and the volume of the product is obtained through volume measurement. The principle of measuring the volume of the product by the volume measuring device is: immersing the product in a measuring cylinder filled with liquid, and measuring the volume of the product through the change in the volume of the liquid;

[0008] S4. After the volume is measured, the density of the product is calculated using a calculation formula. If the measured density of the product is within the standard density range, the product is determined to be a qualified product. If the measured density of the product is not within the standard density range, the product is determined to be a failed product.

[0009] S5. Repeat steps S1 to S4 to continuously measure the density of multiple products.

[0010] However, although this density measurement system can measure the density of the product, it still has the following technical defects:

[0011] I. In step S1, it is necessary to manually open the window door and place the product on the shelf inside the housing. After placing the product, the worker needs to manually close the window door, which undoubtedly increases the worker's work intensity. In addition, the worker needs to adjust the placement of the product several times to make the product at the designated position of the shelf, which undoubtedly increases the positioning time of the product, thereby increasing the loading time of the product, thereby reducing the loading efficiency of the product, and further reducing the density measurement efficiency of the product.

[0012] II. In step S3, after measuring the volume of the product by dipping the product, the product with the liquid attached must be dried before the product can be taken out of the shell, which undoubtedly increases the time for measuring the density of the subsequent product, thereby reducing the efficiency of measuring the density of the product. Therefore, a measuring device and method that reduces the workload of workers and greatly improves the efficiency of measuring product density is urgently needed. Summary of the invention

[0013] The technical problem solved by the present invention is to provide a measuring device and method for fully automatic and continuous measurement of product density, which can reduce the workload of workers and greatly improve the efficiency of product density measurement.

[0014] The technical solution adopted by the present invention is:

[0015] A measuring device for fully automatic and continuous measurement of product density comprises a workbench, a robot arm, a volume measuring device, a weighing scale, a turnover device and a tray, wherein a shell is provided on the upper part of the workbench, a robot arm for grabbing products is provided inside the shell and on the upper surface of the workbench, a chuck is provided on the execution end of the robot arm, a plurality of volume measuring devices are provided on the left side of the robot arm, and a weighing scale for weighing products is provided on the front side of the robot arm; a turnover device is provided on the right side of the robot arm, the turnover device comprises a transfer device and a shelf device, the shelf device is located on the right side of the weighing scale, the transfer device is located on the right side of the shelf device, the turnover device also comprises a longitudinally arranged conveying device, the front end portion of the conveying device is located inside the shell and is arranged opposite to the transfer device in front and back, and the rear end portion of the conveying device extends out of the shell; the tray is used to place products.

[0016] A plurality of blind holes for accommodating products are provided on the top surface of the tray, and two positioning holes A and two positioning holes B are provided on the bottom surface of the tray. The two positioning holes B are located outside the two positioning holes A respectively.

[0017] The conveying device includes a bracket fixed on the rear side of the workbench and two belt conveyors fixed on the bracket. The front ends of the two belt conveyors extend into the shell, and the extended ends are arranged opposite to the transfer device in front and behind. A lifting assembly for lifting the pallet is arranged between the frames of the two belt conveyors, and the lifting assembly is arranged on the rear side of the workbench.

[0018] A front buffer bar is fixed between the front ends of the frames of the two belt conveyors, a rear buffer bar is fixed between the rear ends of the frames of the two belt conveyors, and baffles are fixed on the upper surfaces of the frames of the two belt conveyors along their length directions, and the spacing between the two baffles is equal to the length of the pallet.

[0019] The lifting assembly includes a fixed plate fixed between two frames, a lifting cylinder is fixedly arranged on the upper surface of the fixed plate, a lifting plate is fixedly arranged on the active end of the piston rod of the lifting cylinder, and two positioning pins A are fixedly arranged on the upper surface of the lifting plate, and the positions of the two positioning pins A match the two positioning holes A on the pallet.

[0020] The transfer device includes a screw nut pair arranged longitudinally on the workbench, a moving part is provided on the screw nut pair, a vertically arranged servo motor is fixed on the moving part, a bracket is fixed on the output shaft of the servo motor, two support rods are fixed on the rear end surface of the bracket, and positioning pins B are fixed on the upper surfaces of the two support rods, and the positions of the two positioning pins B match the two positioning holes B on the pallet.

[0021] The shelving device includes a frame fixed on the workbench and a lifting cylinder fixed in the frame. The piston rod of the lifting cylinder passes through the top wall of the frame, and a lifting plate is fixed on the extended end. Two cantilevers are fixed on the upper surface of the lifting plate. Positioning pins C are fixed on the top surfaces of the two cantilevers. The positions of the two positioning pins C match the two positioning holes A on the pallet.

[0022] The volume measuring device includes an arch frame fixed on a workbench and an outer cover fixed on the top wall of the arch frame. An integrated chamber located inside the outer cover is fixed on the top wall of the arch frame. A sample chamber and a reference chamber separated from each other up and down are provided in the integrated chamber. The lower port of the sample chamber penetrates downward through the top wall of the arch frame.

[0023] A connecting valve is provided on the left side wall of the integrated warehouse, and two ports of the connecting valve are respectively connected to the sample chamber and the reference chamber; an air inlet valve is fixedly provided on the top wall of the integrated warehouse, and the air inlet valve is connected to the reference chamber; an exhaust valve is fixedly provided on the integrated warehouse, and the exhaust valve is connected to the sample chamber; a pressure sensor is also fixedly provided on the left side wall of the integrated warehouse, and the pressure sensor is connected to the reference chamber.

[0024] The exhaust port of the exhaust valve and the air inlet of the air inlet valve both extend outside the outer cover, and a lower channel and an upper channel are opened on the left side wall of the integrated chamber. The lower channel connects the lower port of the connecting valve with the sample chamber, and the upper channel connects the upper port of the connecting valve with the reference chamber.

[0025] The volume measuring device also includes a linear cylinder fixed on the workbench and located in the arch frame, a feed cylinder is fixed on the top surface of the moving block of the linear cylinder, a platform is fixed on the active end of the feed cylinder piston rod, and a accommodating tube is fixed on the top surface of the platform.

[0026] It also includes a controller, which is electrically connected to the belt conveyor, the lifting cylinder, the servo motor, the screw nut pair, the lifting cylinder, the linear cylinder, the feed cylinder, the pressure sensor, the connecting valve, the intake valve and the exhaust valve through a signal line.

[0027] A method for fully automatic and continuous measurement of product density comprises the following steps:

[0028] S1. Take out a tray and embed a product to be measured in each blind hole on the tray;

[0029] S2, conveying the pallet and the products thereon from outside the housing to the shelf device;

[0030] The specific steps are:

[0031] S21. A worker stands at the rear side of a workbench and places a pallet flat on two belts of two belt conveyors of a conveying device; then the two belt conveyors are controlled to start simultaneously, and the belt conveyors drive the belts to move, and the two belts move the pallet placed thereon toward the front buffer bar;

[0032] S22, when the pallet is blocked by the front buffer bar, the pallet is just above the lifting plate of the lifting assembly;

[0033] S23, the piston rod of the lifting cylinder of the control lifting assembly moves upward, the piston rod drives the lifting plate to move upward, and the two positioning pins A on the lifting plate are respectively inserted into the two positioning holes A on the bottom surface of the pallet; as the lifting plate continues to move upward, the lifting plate lifts the pallet upward to separate the pallet from the belt, and at this time, the two positioning holes B on the bottom surface of the pallet are respectively suspended on both sides of the lifting plate;

[0034] S24, controlling the moving part of the screw nut pair of the transfer device to move backward, the moving part drives the servo motor, the bracket and the two support rods to move backward synchronously, and the two support rods move toward the tray. When the moving part moves to the set distance, the controller controls the screw nut pair to close. At this time, the positioning pins B on the two support rods are respectively located directly below the two positioning holes B of the tray;

[0035] S25, the piston rod of the control lifting cylinder is retracted downward, the piston rod drives the lifting plate to move downward, and the lifting plate drives the pallet to move downward. During the descending process, the two positioning holes B on the pallet are respectively sleeved on the positioning pins B of the two support rods. At this time, the pallet is just supported between the two support rods;

[0036] S26, control the moving part of the screw nut pair to move forward, the moving part drives the servo motor, the bracket, and the support rod to move forward synchronously, and the support rod drives the tray to move forward synchronously; when the moving part moves to the set distance, control the screw nut pair to close; then control the servo motor to start, the servo motor drives the bracket to rotate, the bracket drives the support rod to rotate synchronously, and the support rod drives the tray to rotate synchronously. When the tray rotates 90°, the controller controls the servo motor to close, and at this time the tray just moves to the top of the two cantilevers of the shelf device, and at the same time, the two positioning holes A on the tray are respectively located above the positioning pins C of the two cantilevers;

[0037] S27, the piston rod of the lifting cylinder of the control shelf device moves upward, the lifting plate drives the two cantilevers to move upward synchronously, the cantilevers drive the positioning pins C to move upward, and the two positioning pins C are respectively inserted into the two positioning holes A of the tray from bottom to top; as the cantilevers continue to move upward, the two cantilevers lift the tray to separate the tray from the supporting rod, thereby finally realizing the conveyance of the tray and the products on it from the outside of the shell to the shelf device, so that the robot arm can grab the products on the tray later;

[0038] S3, weighing the first product;

[0039] The robot arm is controlled to start, and the clamp of the robot arm clamps the first product in the tray. After clamping, the robot arm transfers the product to the weighing scale, and then releases the clamp. The weighing scale weighs the product. The weighing scale transmits the weighed weight data to the controller, and the controller calculates the mass of the product: m sample , thus achieving the weighing of the first product;

[0040] S4, measurement of the first product volume;

[0041] S41, clamping and fixing the product on the weighing scale by the robot arm, and then transferring the product to the receiving cylinder of the volume measuring device by the robot arm, and then releasing the clamp, so that the product just fits in the receiving cylinder;

[0042] S42, control the linear cylinder to start, the linear cylinder drives the moving block to move toward the arch frame, the moving block drives the feed cylinder and the receiving tube to move synchronously toward the arch frame, when the moving block moves to the set distance, the controller controls the linear cylinder to close, at this time, the receiving tube is just below the sample chamber of the integrated bin;

[0043] S43, the piston rod of the feed cylinder is controlled to extend upward, the piston rod drives the platform to move upward, the platform drives the accommodating tube and the product to move upward synchronously, the product enters the sample chamber from bottom to top, when the piston rod of the feed cylinder is fully extended, the large end surface of the accommodating tube just blocks the bottom port of the sample chamber;

[0044] S44, open the air inlet valve, and let air into the reference chamber through the air inlet valve. When the air is let in for a set time, control the air inlet valve to close, and measure the air pressure in the reference chamber through the pressure sensor, which is recorded as P 1 ;

[0045] S45, open the connecting valve, the helium in the reference chamber passes through the upper channel, the connecting valve, the lower channel, and finally enters the sample chamber, the sample chamber and the reference chamber form a new equilibrium pressure, and the equilibrium pressure P is measured by the pressure sensor 2 ; After measuring the equilibrium pressure, open the exhaust valve to discharge the gas in the sample chamber and the reference chamber to the outside;

[0046] S46. Calculate the volume V of the product using the formula solid ;

[0047] Wherein, the volume of the reference chamber is: V ref ; Sample chamber volume: V cell , V ref and V cell All are known;

[0048] S5. Calculate the density of the product by formula s ;

[0049]

[0050] After the density of the product is calculated, if the measured density of the product is within the standard density range, the product is judged to be a qualified product; if the measured density of the product is not within the standard density range, the product is judged to be a failed product;

[0051] S6. Taking out the product from the sample chamber: Control the piston rod of the feed cylinder to retract downward, the piston rod drives the platform to move downward, and the platform drives the containing cylinder and the product to move downward, so that the product can be taken out of the sample chamber; after the product is taken out, control the moving block of the linear cylinder to move in the opposite direction, thereby driving the product to reset; after the product is reset, the product is clamped by the clamp of the robot arm, and then the robot arm clamps the product into the blind hole of the tray again, thereby finally realizing the measurement of the density of the first product;

[0052] S7. Repeat steps S3 to S6 to measure other products in the tray one by one. When all products on the tray have been measured, open the window on the outer shell, and the worker takes away the tray, and then takes away the unqualified products on the tray.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The present invention provides a fully automatic and continuous product density measuring device and method, which reduces the work intensity of workers and greatly improves the product density measurement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of the tray of the present invention;

[0056] Figure 2 for Figure 1 Bottom view of

[0057] Figure 3 A schematic diagram of the structure of a measuring device for fully automatic and continuous measurement of product density provided by the present invention;

[0058] Figure 4 for Figure 3 Schematic diagram of the structure without the outer shell;

[0059] Figure 5 It is a structural schematic diagram of the turnover device;

[0060] Figure 6 It is a structural schematic diagram of the conveying device;

[0061] Figure 7 It is a structural schematic diagram of the jacking device;

[0062] Figure 8 It is a schematic diagram of the structure of the front buffer bar;

[0063] Fig. 9 It is a schematic diagram of the structure of the transfer device;

[0064] Fig.10 is a schematic diagram of the structure of the shelving device;

[0065] Fig.11 This is a schematic diagram of the structure of the robot arm;

[0066] Fig.12 is a structural schematic diagram of a volume measuring device;

[0067] Fig.13 for Fig.12 The schematic diagram of the structure without the outer cover;

[0068] Fig.14It is a connection diagram of the integrated chamber, the air inlet valve, the connecting valve and the exhaust valve;

[0069] Fig.15 for Fig.14 The main cross-sectional diagram of

[0070] Fig.16 The schematic diagram of the transfer device rotating the pallet 90°;

[0071] Fig.17 A schematic diagram of a pallet moving to the top of a cantilever of a shelf device;

[0072] Fig.18 A schematic diagram of a cantilever arm of a shelving device lifting a pallet upward;

[0073] Fig.19 A schematic diagram of a product entering into a receiving cylinder of a volume measuring device;

[0074] Fig. 20 It is a schematic diagram of the product moving to the sample chamber just below the integrated warehouse;

[0075] Fig.21 A schematic diagram showing the movement of products into the sample room of the integrated warehouse;

[0076] In the figure: 1-workbench, 2-housing, 3-robot arm, 4-chuck, 5-volume measuring device, 6-weighing balance, 7-transfer device, 8-shelf device, 9-conveying device, 10-tray, 11-blind hole, 12-positioning hole A, 13-positioning hole B; 14-bracket, 15-belt conveyor, 16-frame, 17-lifting assembly, 18-front buffer bar, 19-rear buffer bar, 20-baffle; 21-fixed plate, 22-lifting cylinder, 23-lifting plate, 24-positioning pin A; 25-screw nut pair, 26-moving part , 27-servo motor, 28-bracket, 29-support rod, 30-locating pin B; 31-frame, 32-lifting cylinder, 33-lifting plate, 34-cantilever, 35-locating pin C; 36-arch frame, 37-outer cover, 38-integrated warehouse, 39-sample chamber, 40-reference chamber, 41-connecting valve, 42-inlet valve, 43-exhaust valve, 44-pressure sensor, 45-lower channel, 46-upper channel, 47-linear cylinder, 48-moving block, 49-feeding cylinder, 50-platform, 51-accommodating tube; 52-product, 53-belt. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0079] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] like Figure 1 to Figure 15 As shown, a measuring device for fully automatic and continuous measurement of product density provided by the present invention comprises a workbench 1, a robot arm 3, a volume measuring device 5, a weighing scale 6, a turnover device, and a tray 10. A shell 2 is provided on the upper part of the workbench 1, and a robot arm 3 for grabbing products is provided on the upper surface of the workbench 1 inside the shell 2. A chuck 4 is provided on the execution end of the robot arm 3. A plurality of volume measuring devices 5 are provided on the left side of the robot arm 3, and a weighing scale 6 for weighing products is provided on the front side of the robot arm 3.

[0081] A turnover device is provided on the right side of the robot arm 3, and the turnover device includes a transfer device 7 and a shelf device 8. The shelf device 8 is located on the right side of the weighing scale 6, and the transfer device 7 is located on the right side of the shelf device 8. The turnover device also includes a longitudinally arranged conveying device 9, the front end of which is located inside the housing 2 and is arranged opposite to the transfer device 7 in front and back, and the rear end of the conveying device 9 extends outside the housing 2;

[0082] The measuring device also includes a tray 10, on the top surface of which a plurality of blind holes 11 for accommodating products are provided, and on the bottom surface of the tray 10 two positioning holes A12 and two positioning holes B13 are provided, and the two positioning holes B13 are respectively located outside the two positioning holes A12.

[0083] The conveying device 9 includes a bracket 14 fixedly arranged at the rear side of the workbench 1, and two belt conveyors 15 fixedly arranged on the bracket 14. The front ends of the two belt conveyors 15 are both extended into the housing 2, and the extended ends are arranged opposite to the transfer device 7 in front and back. A lifting component 17 for lifting the tray 10 is arranged between the frames 16 of the two belt conveyors 15, and the lifting component 17 is arranged at the rear side of the workbench 1;

[0084] A front buffer bar 18 is fixedly provided between the front ends of the frames 16 of the two belt conveyors 15, a rear buffer bar 19 is fixedly provided between the rear ends of the frames 16 of the two belt conveyors 15, and a baffle 20 is fixedly provided on the top surface of the frames 16 of the two belt conveyors 15 along the length direction thereof, and the spacing between the two baffles 20 is equal to the length of the pallet 10.

[0085] The lifting assembly 17 includes a fixed plate 21 fixed between the two frames 16, a lifting cylinder 22 is fixedly provided on the upper surface of the fixed plate 21, a lifting plate 23 is fixedly provided on the active end of the piston rod of the lifting cylinder 22, and two positioning pins A24 are fixedly provided on the upper surface of the lifting plate 23, and the positions of the two positioning pins A24 match the two positioning holes A12 on the pallet 10.

[0086] The transfer device 7 includes a screw nut pair 25 which is arranged on the workbench 1 and is longitudinally arranged. The screw nut pair 25 is provided with a moving part 26. A servo motor 27 which is vertically arranged is fixed on the moving part 26. A bracket 28 is fixed on the output shaft of the servo motor 27. Two support rods 29 are fixed on the rear end surface of the bracket 28. Positioning pins B30 are fixed on the upper surfaces of the two support rods 29. The positions of the two positioning pins B30 match the two positioning holes B13 on the tray 10.

[0087] The shelf device 8 includes a frame 31 fixed on the workbench 1 and a lifting cylinder 32 fixed in the frame 31. The piston rod of the lifting cylinder 32 passes through the top wall of the frame 31, and a lifting plate 33 is fixed on the extended end. Two cantilevers 34 are fixed on the upper surface of the lifting plate 33. Positioning pins C35 are fixed on the top surfaces of the two cantilevers 34. The positions of the two positioning pins C35 match the two positioning holes A12 on the tray 10.

[0088] The volume measuring device 5 comprises an arch frame 36 fixedly mounted on the workbench 1, and an outer cover 37 fixedly mounted on the top wall of the arch frame 36. An integrated chamber 38 located inside the outer cover 37 is fixedly mounted on the top wall of the arch frame 36. A sample chamber 39 and a reference chamber 40 separated from each other are provided in the integrated chamber 38. The lower port of the sample chamber 39 passes through the top wall of the arch frame 36 downward.

[0089] A connecting valve 41 is provided on the left side wall of the integrated chamber 38, and the two ports of the connecting valve 41 are respectively connected to the sample chamber 39 and the reference chamber 40; an air inlet valve 42 is fixedly provided on the top wall of the integrated chamber 38, and the air inlet valve 42 is connected to the reference chamber 40; an exhaust valve 43 is fixedly provided on the integrated chamber 38, and the exhaust valve 43 is connected to the sample chamber 39; a pressure sensor 44 is also fixedly provided on the left side wall of the integrated chamber 38, and the pressure sensor 44 is connected to the reference chamber 40.

[0090] The exhaust port of the exhaust valve 43 and the air inlet of the air inlet valve 42 both extend to the outside of the outer cover 37. A lower channel 45 and an upper channel 46 are opened on the left side wall of the integrated chamber 38. The lower channel 45 connects the lower port of the connecting valve 41 with the sample chamber 39, and the upper channel 46 connects the upper port of the connecting valve 41 with the reference chamber 40.

[0091] The volume measuring device 5 also includes a linear cylinder 47 fixed on the workbench 1 and located in the arch frame 36, a feed cylinder 49 is fixed on the top surface of the moving block 48 of the linear cylinder 47, a platform 50 is fixed on the active end of the piston rod of the feed cylinder 49, and a accommodating tube 51 is fixed on the top surface of the platform 50.

[0092] It also includes a controller, which is electrically connected to the belt conveyor 15, the lifting cylinder 22, the servo motor 27, the screw nut pair 25, the lifting cylinder 32, the linear cylinder 47, the feed cylinder 49, the pressure sensor 44, the connecting valve 41, the intake valve 42 and the exhaust valve 43 via a signal line. In the initial state, the intake valve 42, the connecting valve 41 and the exhaust valve 43 are all in a closed state.

[0093] A method for fully automatic and continuous measurement of product density comprises the following steps:

[0094] S1. A worker takes out a tray 10 and embeds a product 52 to be measured in each blind hole 11 on the tray 10;

[0095] S2, the specific operation steps of transporting the tray 10 and the product 52 thereon from the outside of the housing 2 to the shelf device 8 are as follows:

[0096] S21, the worker stands at the rear side of the workbench 1, and places the pallet 10 flat on the two belts 53 of the two belt conveyors 15 of the conveying device 9; then the two belt conveyors 15 are controlled to start at the same time, and the belt conveyors 15 drive the belts 53 to move, and the two belts 53 move the pallet 10 placed thereon toward the front buffer bar 18;

[0097] S22, when the pallet 10 is blocked by the front buffer bar 18, the pallet 10 is just above the lifting plate 23 of the lifting assembly 17;

[0098] S23, the piston rod of the lifting cylinder 22 of the control lifting assembly 17 moves upward, the piston rod drives the lifting plate 23 to move upward, and the two positioning pins A24 on the lifting plate 23 are respectively inserted into the two positioning holes A12 located on the bottom surface of the pallet 10; as the lifting plate 23 continues to move upward, the lifting plate 23 lifts the pallet 10 upward to separate the pallet 10 from the belt 53, at this time, the two positioning holes B13 located on the bottom surface of the pallet 10 are respectively suspended on both sides of the lifting plate 23;

[0099] S24, control the moving part 26 of the screw nut pair 25 of the transfer device 7 to move backward, the moving part 26 drives the servo motor 27, the bracket 28 and the two support rods 29 to move backward synchronously, and the two support rods 29 move toward the tray 10. When the moving part 26 moves to the set distance, the controller controls the screw nut pair 25 to close. At this time, the positioning pins B30 on the two support rods 29 are respectively located directly below the two positioning holes B13 of the tray 10;

[0100] S25, the piston rod of the lifting cylinder 22 is controlled to retract downward, the piston rod drives the lifting plate 23 to move downward, and the lifting plate 23 drives the tray 10 to move downward. During the descending process, the two positioning holes B13 on the tray 10 are respectively sleeved on the positioning pins B30 of the two supporting rods 29. At this time, the tray 10 is just supported between the two supporting rods 29;

[0101] S26, control the moving part 26 of the screw nut pair 25 to move forward, the moving part 26 drives the servo motor 27, the bracket 28, and the support rod 29 to move forward synchronously, and the support rod 29 drives the tray 10 to move forward synchronously; when the moving part 26 moves to the set distance, the screw nut pair 25 is controlled to close; then the servo motor 27 is controlled to start, the servo motor 27 drives the bracket 28 to rotate, the bracket 28 drives the support rod 29 to rotate synchronously, and the support rod 29 drives the tray 10 to rotate synchronously. When the tray 10 rotates 90°, as shown in Fig.16 As shown, the controller controls the servo motor 27 to turn off, and at this time the tray 10 just moves to the top of the two cantilevers 34 of the shelf device 8, as shown in FIG. Fig.17 As shown, at the same time, the two positioning holes A12 on the tray 10 are respectively located directly above the positioning pins C35 of the two cantilevers 34;

[0102] S27, the piston rod of the lifting cylinder 32 of the shelf device 8 is controlled to move upward, the lifting plate 33 drives the two cantilevers 34 to move upward synchronously, the cantilevers 34 drive the positioning pins C35 to move upward, and the two positioning pins C35 are respectively inserted into the two positioning holes A12 of the tray 10 from bottom to top; as the cantilevers 34 continue to move upward, the two cantilevers 34 lift the tray 10 up, as shown in FIG. Fig.18 As shown, the tray 10 is separated from the support rod 29, thereby finally transporting the tray 10 and the product 52 thereon from the outside of the housing 2 to the shelf device 8, so that the robot arm 3 can subsequently grab the product 52 on the tray 10;

[0103] Among them, it can be known from step S2 that the present measuring device can quickly convey the tray 10 and the product 52 thereon from the outside of the housing 2 to the cantilever 34 of the shelf device 8 through the linkage cooperation of the conveying device 9, the transfer device 7 and the shelf device 8, thereby realizing the rapid loading of the product 52. It can be seen that compared with the manual material discharge in the workshop, the present measuring device does not need to frequently open and close the window on the housing 2 manually, thereby greatly reducing the work intensity of the workers. In addition, it also shortens the positioning time of the product 52, thereby shortening the loading time of the product 52, thereby improving the loading efficiency of the product 52, and further improving the density measurement efficiency of the product.

[0104] S3, weighing the first product 52: the robot arm 3 is controlled to start, and the clamp 4 of the robot arm 3 clamps the first product 52 in the tray 10. After clamping, the robot arm 3 transfers the product 52 to the weighing scale 6, and then releases the clamp 4. The weighing scale 6 weighs the weight of the product 52. The weighing scale 6 transmits the weighed weight data to the controller, and the controller calculates the mass of the product 52: m sample , thereby achieving the weighing of the first product 52;

[0105] S4, measuring the volume of the first product 52, the specific operation steps are:

[0106] S41, the product 52 on the weighing scale 6 is clamped and fixed by the robot arm 3, and then the product 52 is transferred to the receiving tube 51 of the volume measuring device 5 by the robot arm 3, and then the clamp 4 is released, and the product 52 is just located in the receiving tube 51, as shown in FIG. Fig.19 As shown;

[0107] S42, control the linear cylinder 47 to start, the linear cylinder 47 drives the moving block 48 to move toward the arch frame 36, the moving block 48 drives the feeding cylinder 49 and the receiving tube 51 to move synchronously toward the arch frame 36, when the moving block 48 moves to the set distance, the controller controls the linear cylinder 47 to close, at this time, the receiving tube 51 is just below the sample chamber 39 of the integrated chamber 38, as shown in FIG. Fig. 20 As shown;

[0108] S43, control the piston rod of the feed cylinder 49 to extend upward, the piston rod drives the platform 50 to move upward, the platform 50 drives the accommodating tube 51 and the product 52 to move upward synchronously, the product 52 enters the sample chamber 39 from bottom to top, when the piston rod of the feed cylinder 49 is fully extended, the large end surface of the accommodating tube 51 just blocks the bottom end of the sample chamber 39, as shown in FIG. Fig.21 As shown;

[0109] S44, open the air inlet valve 42, and introduce helium into the reference chamber 40 through the air inlet valve 42. After the helium is introduced for a set time, the air inlet valve 42 is controlled to close, and the air pressure in the reference chamber 40 is measured by the pressure sensor 44, which is recorded as P 1 ;

[0110] S45, open the connecting valve 41, the helium in the reference chamber 40 passes through the upper channel 46, the connecting valve 41, the lower channel 45, and finally enters the sample chamber 39, the sample chamber 39 and the reference chamber 40 form a new equilibrium pressure, and the equilibrium pressure P is measured by the pressure sensor 44 2 After measuring the equilibrium pressure, open the exhaust valve 43 to discharge the gas in the sample chamber 39 and the reference chamber 40 to the outside;

[0111] S46. Calculate the volume V of product 52 by formula solid ;

[0112] Wherein, the volume of the reference chamber is: V ref cm 3 ; Sample chamber volume: V cell cm 3 , V ref and V cell All are known;

[0113] Among them, it can be seen from step S4 that the present measuring device replaces the immersion method to measure the volume of the product 52, so there is no subsequent drying process for the product 52, thereby shortening the subsequent product density measurement time, thereby greatly improving the efficiency of product density measurement. In addition, the present measuring device realizes continuous and automatic volume measurement of each product 52 on the tray 10 through the linkage cooperation of the robot arm 3 and the volume measuring device 5. Compared with the immersion measurement method used in the workshop, it shortens the time to measure the volume of each product 52 on the tray 10 in a short time, thereby further improving the measurement efficiency of the density of the product 52.

[0114] S5. Calculate the density ρ of product 52 by formula s ;

[0115]

[0116] After the density of the product is calculated, if the measured density of the product 52 is within the standard density range, the product 52 is determined to be a qualified product; if the measured density of the product 52 is not within the standard density range, the product is determined to be a failed product;

[0117] S6. Taking out the product 52 in the sample chamber 39: the piston rod of the feed cylinder 49 is controlled to retract downward, and the piston rod drives the platform 50 to move downward, and the platform 50 drives the accommodating cylinder 51 and the product 52 to move downward, so that the product 52 escapes from the sample chamber 39; after escaping, the moving block 48 of the linear cylinder 47 is controlled to move in the opposite direction, thereby driving the product 52 to reset; after the product 52 is reset, the product 52 is clamped by the clamp 4 of the robot arm 3, and then the product 52 is clamped again into the blind hole 11 of the tray 10 by the robot arm 3, thereby finally realizing the measurement of the density of the first product 52;

[0118] S7. Repeat steps S3 to S6 to measure the other products 52 in the tray 10 one by one. When all the products 52 on the tray 10 have been measured, open the window on the housing 2, and the worker takes away the tray 10, and then takes away the unqualified products on the tray 10.

[0119] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0120] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fully automatic and continuous measuring device for measuring product density, characterized in that: The invention comprises a workbench (1), a robot arm (3), a volume measuring device (5), a weighing scale (6), a turnover device, and a tray (10); a shell (2) is provided on the upper part of the workbench (1); a robot arm (3) for grasping products is provided inside the shell (2) and on the upper surface of the workbench (1); a chuck (4) is provided on the execution end of the robot arm (3); a plurality of volume measuring devices (5) are provided on the left side of the robot arm (3); and a weighing scale (6) for weighing products is provided on the front side of the robot arm (3); A turnover device is arranged on the right side of the robot arm (3), and the turnover device includes a transfer device (7) and a shelf device (8), wherein the shelf device (8) is located on the right side of the weighing scale (6), and the transfer device (7) is located on the right side of the shelf device (8). The turnover device also includes a longitudinally arranged conveying device (9), wherein the front end of the conveying device (9) is located inside the outer shell (2) and is arranged opposite to the transfer device (7) in front and back, and the rear end of the conveying device (9) extends out of the outer shell (2); the tray (10) is used to place products.

2. The fully automatic and continuous product density measuring device according to claim 1 is characterized in that: The top surface of the tray (10) is provided with a plurality of blind holes (11) for accommodating products, and the bottom surface of the tray (10) is provided with two positioning holes A (12) and two positioning holes B (13), wherein the two positioning holes B (13) are respectively located on the outside of the two positioning holes A (12).

3. The fully automatic and continuous product density measuring device according to claim 2, characterized in that: The conveying device (9) comprises a bracket (14) fixedly mounted on the rear side of the workbench (1), and two belt conveyors (15) fixedly mounted on the bracket (14); the front ends of the two belt conveyors (15) are both extended into the housing (2), and the extended ends are arranged opposite to the transfer device (7) in front and back; a lifting assembly (17) for lifting the tray (10) is arranged between the frames (16) of the two belt conveyors (15); and the lifting assembly (17) is arranged on the rear side of the workbench (1).

4. The fully automatic and continuous product density measuring device according to claim 3 is characterized in that: A front buffer bar (18) is fixedly arranged between the front ends of the frames (16) of the two belt conveyors (15), a rear buffer bar (19) is fixedly arranged between the rear ends of the frames (16) of the two belt conveyors (15), and a baffle (20) is fixedly arranged on the upper surface of the frames (16) of the two belt conveyors (15) along the length direction thereof, and the spacing between the two baffles (20) is equal to the length of the pallet (10).

5. The fully automatic and continuous product density measuring device according to claim 3 is characterized in that: The lifting assembly (17) comprises a fixing plate (21) fixedly arranged between two frames (16); a lifting cylinder (22) is fixedly arranged on the upper surface of the fixing plate (21); a lifting plate (23) is fixedly arranged on the action end of the piston rod of the lifting cylinder (22); two positioning pins A (24) are fixedly arranged on the upper surface of the lifting plate (23); the positions of the two positioning pins A (24) match with the two positioning holes A (12) on the pallet (10).

6. The fully automatic and continuous product density measuring device according to claim 2, characterized in that: The transfer device (7) comprises a screw nut pair (25) disposed on the workbench (1) and arranged longitudinally, the screw nut pair (25) being provided with a moving part (26), a servo motor (27) being fixedly disposed vertically on the moving part (26), a bracket (28) being fixedly disposed on the output shaft of the servo motor (27), two support rods (29) being fixedly disposed on the rear end surface of the bracket (28), and positioning pins B (30) being fixedly disposed on the upper surfaces of the two support rods (29), and the positions of the two positioning pins B (30) being matched with the two positioning holes B (13) on the tray (10).

7. The device for fully automatic and continuous measurement of product density according to claim 2, characterized in that: The shelf device (8) comprises a frame (31) fixed on the workbench (1), and a lifting cylinder (32) fixed in the frame (31); the piston rod of the lifting cylinder (32) passes through the top wall of the frame (31), and a lifting plate (33) is fixed on the extended end; two cantilevers (34) are fixed on the upper surface of the lifting plate (33); and positioning pins C (35) are fixed on the top surfaces of the two cantilevers (34); the positions of the two positioning pins C (35) match the two positioning holes A (12) on the tray (10).

8. The device for fully automatic and continuous measurement of product density according to claim 1, characterized in that: The volume measuring device (5) comprises an arch frame (36) fixedly mounted on a workbench (1), and an outer cover (37) fixedly mounted on a top wall of the arch frame (36); an integrated chamber (38) located inside the outer cover (37) is fixedly mounted on the top wall of the arch frame (36); a sample chamber (39) and a reference chamber (40) separated from each other in upper and lower parts are provided in the integrated chamber (38); a lower port of the sample chamber (39) penetrates downward through the top wall of the arch frame (36).

9. The device for fully automatic and continuous measurement of product density according to claim 8, characterized in that: A connecting valve (41) is provided on the left side wall of the integrated chamber (38), and the two ports of the connecting valve (41) are respectively connected to the sample chamber (39) and the reference chamber (40); an air intake valve (42) is fixedly provided on the top wall of the integrated chamber (38), and the air intake valve (42) is connected to the reference chamber (40); an exhaust valve (43) is fixedly provided on the integrated chamber (38), and the exhaust valve (43) is connected to the sample chamber (39); a pressure sensor (44) is also fixedly provided on the left side wall of the integrated chamber (38), and the pressure sensor (44) is connected to the reference chamber (40).

10. The device for fully automatic and continuous measurement of product density according to claim 9, characterized in that: The exhaust port of the exhaust valve (43) and the air inlet of the air inlet valve (42) both extend outside the outer cover (37), and a lower channel (45) and an upper channel (46) are provided on the left side wall of the integrated chamber (38), wherein the lower channel (45) connects the lower port of the connecting valve (41) with the sample chamber (39), and the upper channel (46) connects the upper port of the connecting valve (41) with the reference chamber (40).

11. The device for fully automatic and continuous measurement of product density according to claim 1, characterized in that: The volume measuring device (5) further comprises a linear cylinder (47) fixedly mounted on the workbench (1) and located in the arch frame (36); a feed cylinder (49) is fixedly mounted on the top surface of a moving block (48) of the linear cylinder (47); a platform (50) is fixedly mounted on the action end of a piston rod of the feed cylinder (49); and a receiving tube (51) is fixedly mounted on the top surface of the platform (50).

12. The device for fully automatic and continuous measurement of product density according to claim 1, characterized in that: The invention also includes a controller, which is electrically connected to the belt conveyor (15), the lifting cylinder (22), the servo motor (27), the screw nut pair (25), the lifting cylinder (32), the linear cylinder (47), the feed cylinder (49), the pressure sensor (44), the connecting valve (41), the intake valve (42) and the exhaust valve (43) via a signal line.

13. A method for fully automatic and continuous measurement of product density, based on a measuring device for fully automatic and continuous measurement of product density, characterized in that: The following steps are involved: S1, taking out a tray (10), and embedding a product (52) to be measured in each blind hole (11) on the tray (10); S2, transporting the tray (10) and the products (52) thereon from outside the housing (2) to the shelf device (8); The specific steps are: S21. A worker stands at the rear side of the workbench (1) and places the pallet (10) flatly on the two belts (53) of the two belt conveyors (15) of the conveying device (9); then the two belt conveyors (15) are controlled to start simultaneously, the belt conveyors (15) drive the belts (53) to move, and the two belts (53) move the pallet (10) placed thereon toward the front buffer bar (18); S22, when the tray (10) is blocked by the front buffer stop bar (18), the tray (10) is just above the lifting plate (23) of the lifting assembly (17); S23, the piston rod of the lifting cylinder (22) of the control lifting assembly (17) moves upward, the piston rod drives the lifting plate (23) to move upward, and the two positioning pins A (24) on the lifting plate (23) are respectively inserted into the two positioning holes A (12) located on the bottom surface of the pallet (10); as the lifting plate (23) continues to move upward, the lifting plate (23) lifts the pallet (10) upward to separate the pallet (10) from the belt (53), at which time, the two positioning holes B (13) located on the bottom surface of the pallet (10) are respectively suspended on both sides of the lifting plate (23); S24, controlling the moving part (26) of the screw nut pair (25) of the transfer device (7) to move backward, the moving part (26) drives the servo motor (27), the bracket (28) and the two support rods (29) to move backward synchronously, and the two support rods (29) move toward the tray (10). When the moving part (26) moves to a set distance, the controller controls the screw nut pair (25) to close. At this time, the positioning pins B (30) on the two support rods (29) are respectively located directly below the two positioning holes B (13) of the tray (10); S25, the piston rod of the lifting cylinder (22) is controlled to retract downward, the piston rod drives the lifting plate (23) to move downward, and the lifting plate (23) drives the tray (10) to move downward. During the descending process, the two positioning holes B (13) on the tray (10) are respectively sleeved on the positioning pins B (30) of the two supporting rods (29). At this time, the tray (10) is just supported between the two supporting rods (29); S26, controlling the moving part (26) of the screw nut pair (25) to move forward, the moving part (26) drives the servo motor (27), the bracket (28), and the support rod (29) to move forward synchronously, and the support rod (29) drives the tray (10) to move forward synchronously; when the moving part (26) moves to a set distance, the screw nut pair (25) is controlled to be closed; then the servo motor (27) is controlled to start, the servo motor (27) drives the bracket (28) to rotate, the bracket (28) drives the support rod (29) to rotate synchronously, and the support rod (29) drives the tray (10) to rotate synchronously, and when the tray (10) rotates 90°, the controller controls the servo motor (27) to be closed, and at this time, the tray (10) just moves to the top of the two cantilevers (34) of the shelf device (8), and at the same time, the two positioning holes A (12) on the tray (10) are respectively located above the positioning pins C (35) of the two cantilevers (34); S27, the piston rod of the lifting cylinder (32) of the control shelf device (8) moves upward, the lifting plate (33) drives the two cantilevers (34) to move upward synchronously, the cantilever (34) drives the positioning pin C (35) to move upward, and the two positioning pins C (35) are respectively inserted from bottom to top into the two positioning holes A (12) of the tray (10); as the cantilever (34) continues to move upward, the two cantilevers (34) lift the tray (10) to separate the tray (10) from the supporting rod (29), thereby finally realizing the transport of the tray (10) and the product (52) thereon from the outside of the shell (2) to the shelf device (8), so that the robot arm (3) can subsequently grab the product (52) on the tray (10); S3, weighing the first product (52); The robot arm (3) is controlled to start, and the clamp (4) of the robot arm (3) clamps the first product (52) in the tray (10). After clamping, the robot arm (3) transfers the product (52) to the weighing scale (6), and then releases the clamp (4). The weighing scale (6) weighs the weight of the product (52). The weighing scale (6) transmits the weighed weight data to the controller, and the controller calculates the mass of the product (52): m sample , thereby achieving the weighing of the first product (52); S4, measuring the volume of the first product (52); S41, clamping and fixing the product (52) on the weighing scale (6) by the robot arm (3), and then transferring the product (52) to the receiving tube (51) of the volume measuring device (5) by the robot arm (3), and then releasing the clamp (4), so that the product (52) is just located in the receiving tube (51); S42, control the linear cylinder (47) to start, the linear cylinder (47) drives the moving block (48) to move toward the arch frame (36), the moving block (48) drives the feeding cylinder (49) and the receiving tube (51) to move synchronously toward the arch frame (36), when the moving block (48) moves to a set distance, the controller controls the linear cylinder (47) to close, at which time, the receiving tube (51) is just below the sample chamber (39) of the integrated chamber (38); S43, the piston rod of the feed cylinder (49) is controlled to extend upward, the piston rod drives the platform (50) to move upward, the platform (50) drives the accommodating tube (51) and the product (52) to move upward synchronously, the product (52) enters the sample chamber (39) from bottom to top, and when the piston rod of the feed cylinder (49) is fully extended, the large end surface of the accommodating tube (51) just blocks the bottom port of the sample chamber (39); S44, opening the air inlet valve (42), and introducing helium into the reference chamber (40) through the air inlet valve (42). After the helium is introduced for a set time, the air inlet valve (42) is controlled to close, and the air pressure in the reference chamber (40) is measured by the pressure sensor (44), which is recorded as P1; S45, opening the connecting valve (41), the helium in the reference chamber (40) passes through the upper channel (46), the connecting valve (41), the lower channel (45) in sequence, and finally enters the sample chamber (39), the sample chamber (39) and the reference chamber (40) form a new equilibrium pressure, and the equilibrium pressure P2 is measured by the pressure sensor (44); after the equilibrium pressure is measured, the exhaust valve (43) is opened to discharge the gas in the sample chamber (39) and the reference chamber (40) to the outside; S46. Calculate the volume V of the product (52) by the formula solid ; Wherein, the volume of the reference chamber is: V ref ; Sample chamber volume: V cell , V ref and V cell All are known; S5. Calculate the density ρ of product (52) by formula s ; After the density of the product is calculated, if the measured density of the product (52) is within the standard density range, the product (52) is determined to be a qualified product; if the measured density of the product (52) is not within the standard density range, the product is determined to be a failed product; S6. Taking out the product (52) from the sample chamber (39): the piston rod of the feed cylinder (49) is controlled to retract downward, and the piston rod drives the platform (50) to move downward, and the platform (50) drives the accommodating cylinder (51) and the product (52) to move downward, so that the product (52) escapes from the sample chamber (39); after escaping, the moving block (48) of the linear cylinder (47) is controlled to move in the opposite direction, thereby driving the product (52) to reset; after the product (52) is reset, the product (52) is clamped by the clamping head (4) of the robot arm (3), and then the product (52) is clamped again into the blind hole (11) of the tray (10) by the robot arm (3), thereby finally realizing the measurement of the density of the first product (52); S7. Repeat steps S3 to S6 to measure the other products (52) in the tray (10) one by one. When all the products (52) on the tray (10) have been measured, the window on the housing (2) is opened, and the worker takes away the tray (10), and then takes away the unqualified products on the tray (10).

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