A measuring device and method for automatically and continuously measuring the density of a product

Abstract

The present application belongs to the technical field of product density measurement, and particularly relates to a kind of full-automatic continuous measurement product density measuring device and method.In the present application, the upper part of the workbench is provided with a shell, the inside of the shell and the upper surface of the workbench are provided with a mechanical arm for grabbing products, the left side of the mechanical arm is provided with a plurality of volume measuring devices, and the front side of the mechanical arm is provided with a weighing balance for weighing the products;the right side of the mechanical arm is provided with a turnover device, the turnover device includes a transfer device and a resting device, the resting device is located on the right side of the weighing balance, and the transfer device is located on the right side of the resting device, the turnover device further includes a longitudinally arranged conveying device, the front end of the conveying device is located inside the shell, and is arranged opposite to the transfer device, the rear end of the conveying device extends out of the shell;the tray is used for placing products.The present application can reduce the work intensity of workers and greatly improve the product density measurement efficiency.

Description

Technical Field

[0001] This invention belongs to the field of product density measurement technology, specifically relating to a fully automatic continuous measurement device and method for measuring product density. Background Technology

[0002] The products produced in a certain workshop are cylindrical. After a batch of products is produced, the process requires that the density of each product be measured. After the measurement, 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 an outer shell that covers the weighing balance, the volume measuring device, and the shelf, and the outer shell has windows and doors.

[0004] The density measuring device measures the density of a product using the following method:

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

[0006] S2. The product is manually fixed on the shelf and then placed on the weighing balance. The weight of the product is weighed by the weighing balance and recorded manually.

[0007] S3. After weighing, the product is placed in the detection station of the volume measuring device using a basket. The volume of the product is obtained by volume measurement. The principle of the volume measuring device is to immerse the product in a graduated cylinder containing liquid and measure the volume of the product by measuring the change in the volume of the liquid.

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

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

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

[0011] I. In step S1, the window needs to be manually opened and the product placed on the shelf inside the casing. After placement, the window needs to be manually closed, which undoubtedly increases the workload of the workers. In addition, workers need to adjust the product's position multiple times to ensure it is in the designated location on the shelf, which increases the product positioning time, thereby increasing the product loading time, reducing the product loading efficiency, and further reducing the product density measurement efficiency.

[0012] II. In step S3, after measuring the volume of the product by dipping it in water, the product with the attached liquid must be dried before it can be removed from the shell. This undoubtedly increases the time required for subsequent density measurement, thus reducing the efficiency of density measurement. Therefore, there is an urgent need for a measuring device and method that reduces the workload of workers and greatly improves the efficiency of product density measurement. Summary of the Invention

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

[0014] The technical solution adopted in this invention is as follows:

[0015] A fully automated continuous product density measuring device includes a worktable, a robotic arm, a volume measuring device, a weighing balance, a turnover device, and a tray. The worktable has a housing on its upper part. Inside the housing and on the upper surface of the worktable, a robotic arm for gripping products is mounted. A gripper is mounted on the actuator end of the robotic arm. Multiple volume measuring devices are mounted on the left side of the robotic arm, and a weighing balance for weighing products is mounted on the front side of the robotic arm. A turnover device is mounted on the right side of the robotic arm, comprising a transfer device and a placement device. The placement device is located to the right of the weighing balance, and the transfer device is located to the right of the placement device. The turnover device also includes a longitudinally arranged conveyor. The front end of the conveyor is located inside the housing and is positioned opposite the transfer device. The rear end of the conveyor extends outside the housing. The tray is used to place products.

[0016] The top surface of the tray has multiple blind holes for accommodating products, and the bottom surface of the tray has two positioning holes A and two positioning holes B, with the two positioning holes B located outside the two positioning holes A respectively.

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

[0018] A front buffer strip is fixed between the front ends of the frames of the two belt conveyors, and a rear buffer strip is fixed between the rear ends of the frames of the two belt conveyors. A baffle is also fixed on the upper surface of the frames of the two belt conveyors along their length, and the distance 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 fixed on the upper surface of the fixed plate. A lifting plate is fixed on the working end of the piston rod of the lifting cylinder. Two positioning pins A are fixed on the upper surface of the lifting plate. The positions of the two positioning pins A are matched with two positioning holes A on the tray.

[0020] The transfer device includes a lead screw and nut assembly arranged longitudinally on a workbench. The lead screw and nut assembly has a moving part, and 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 face of the bracket. A positioning pin B is fixed on the upper surface of each of the two support rods. The positions of the two positioning pins B are matched with two positioning holes B on the tray.

[0021] The placement device includes a frame fixed on the workbench and a lifting cylinder fixed inside 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 cantilever arms are fixed on the upper surface of the lifting plate. Positioning pins C are fixed on the top surface of the two cantilever arms. The positions of the two positioning pins C are matched with two positioning holes A on the tray.

[0022] The volume measuring device includes an arched frame fixed on a workbench and an outer cover fixed on the top wall of the arched frame. An integrated chamber located inside the outer cover is fixed on the top wall of the arched frame. The integrated chamber has a sample chamber and a reference chamber separated vertically. The lower end of the sample chamber penetrates downward through the top wall of the arched frame.

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

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

[0025] The volume measuring device also includes a linear cylinder fixed on the workbench and located within the arched frame. A feed cylinder is fixed on the top surface of the moving block of the linear cylinder. A platform is fixed on the working end of the piston rod of the feed cylinder, and a receiving cylinder is fixed on the top surface of the platform.

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

[0027] A fully automated continuous measurement method for product density includes the following steps:

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

[0029] S2. Transfer the pallet and the products on it from outside the casing to the placement device;

[0030] The specific steps are as follows:

[0031] S21. The worker stands behind the workbench and places the pallet flat on the two belts of the two belt conveyors of the conveying device; then controls the two belt conveyors to start simultaneously, the belt conveyors drive the belts to move, and the two belts move the pallet placed on them toward the forward buffer bar.

[0032] S22. When the pallet is blocked by the front buffer strip, the pallet is directly above the lifting plate of the lifting assembly.

[0033] S23. The piston rod of the lifting cylinder of the control lifting assembly moves upward, and the piston rod drives the lifting plate to move upward. 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 so that the pallet is separated from the belt. At this time, the two positioning holes B on the bottom surface of the pallet are suspended on both sides of the lifting plate.

[0034] S24. The moving part of the lead screw and nut pair of the control transfer device moves backward. The moving part drives the servo motor, bracket and two support rods to move backward synchronously. The two support rods move towards the tray. When the moving part moves to the set distance, the controller controls the lead screw and 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 retracts downward, the piston rod drives the lifting plate to move downward, and the lifting plate drives the tray to move downward. During the descent, the two positioning holes B on the tray are respectively fitted onto the positioning pins B of the two support rods. At this time, the tray is just supported between the two support rods.

[0036] S26. Control the moving part of the lead screw and nut pair to move forward. The moving part drives the servo motor, bracket, and support rod to move forward synchronously. The support rod drives the tray to move forward synchronously. When the moving part moves to a set distance, control the lead screw and 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. The support rod drives the tray to rotate synchronously. When the tray rotates 90°, the controller controls the servo motor to close. At this time, the tray moves directly above the two cantilever arms of the placement device. At the same time, the two positioning holes A on the tray are directly above the positioning pins C of the two cantilever arms.

[0037] S27. The piston rod of the lifting cylinder of the control device moves upward, the lifting plate drives the two cantilever arms to move upward synchronously, the cantilever arms drive the positioning pins C to move upward, and the two positioning pins C are inserted into the two positioning holes A of the pallet from bottom to top respectively; as the cantilever arms continue to move upward, the two cantilever arms lift the pallet up, so that the pallet is separated from the support rod, thereby finally realizing the transfer of the pallet and the products on it from the outside of the shell to the placement device, so that the robot arm can grab the products on the pallet later;

[0038] S3. Weighing the first product;

[0039] The robotic arm is activated, and its gripper picks up the first product from the tray. After gripping, the robotic arm transfers the product to a weighing balance, then releases the gripper. The weighing balance weighs the product and transmits the weight data to the controller, which calculates the product's mass: m. sample Thus, the weighing of the first product was achieved;

[0040] S4. Measurement of the volume of the first product;

[0041] S41. The product on the weighing balance is clamped and fixed by the robotic arm, and then the product is transferred to the receiving cylinder of the volume measuring device by the robotic arm. Then the clamp is released and the product is placed in the receiving cylinder.

[0042] S42. Control the linear cylinder to start. The linear cylinder drives the moving block to move towards the arched frame. The moving block drives the feed cylinder and the receiving cylinder to move towards the arched frame synchronously. When the moving block moves to the set distance, the controller controls the linear cylinder to close. At this time, the receiving cylinder is just below the sample chamber of the integrated chamber.

[0043] S43. Control the piston rod of the feed cylinder to extend upward, the piston rod drives the platform to move upward, the platform drives the container and the product to move upward synchronously, and the product enters the sample chamber from bottom to top. When the piston rod of the feed cylinder is fully extended, the large end face of the container just blocks the bottom port of the sample chamber.

[0044] S44. Open the air intake valve and introduce air into the reference chamber through the air intake valve. After the set time has elapsed, control the air intake valve to close and measure the air pressure in the reference chamber through the pressure sensor, which is recorded as P1.

[0045] S45. Open the connecting valve. The helium gas in the reference chamber passes through the upper channel, the connecting valve, and the lower channel in sequence, and finally enters the sample chamber. The sample chamber and the reference chamber form a new equilibrium pressure. The equilibrium pressure P2 is measured by the pressure sensor. After the equilibrium pressure is measured, open the exhaust valve to discharge the gas in the sample chamber and the reference chamber to the outside.

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

[0047] The reference chamber volume is: V ref Sample chamber volume: V cell V ref and V cell All of these are known.

[0048] S5. Calculate the product's density ρ using the formula. s ;

[0049]

[0050] Once the density of the product is calculated, if the measured density is within the standard density range, the product is considered a qualified product; if the measured density is outside the standard density range, the product is considered a non-qualified product.

[0051] S6. Removal of product from sample chamber: Control the piston rod of the feed cylinder to retract downwards, the piston rod drives the platform to move downwards, the platform drives the receiving cylinder and product downwards, so that the product is removed from the sample chamber; after removal, 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 held by the gripper of the robot arm, and then the robot arm clamps the product back into the blind hole of the tray, thus finally realizing the measurement of the first product density;

[0052] S7. Repeat steps S3 to S6 to measure the other products on the tray one by one. After all the products on the tray have been measured, open the window on the outer shell, and the worker can take the tray away and remove the defective products from the tray.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] This invention provides a fully automatic continuous measurement device and method for measuring product density, which reduces the workload of workers and greatly improves the efficiency of product density measurement. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the structure of the tray of the present invention;

[0056] Figure 2 for Figure 1 A bottom view;

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

[0058] Figure 4 for Figure 3 A schematic diagram of the structure with the outer shell removed;

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

[0060] Figure 6 This is a schematic diagram of the conveying device.

[0061] Figure 7 This is a schematic diagram of the lifting device.

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

[0063] Figure 9 This is a schematic diagram of the transfer device;

[0064] Figure 10 This is a schematic diagram of the structure of the shelving device;

[0065] Figure 11 This is a schematic diagram of the structure of a robotic arm;

[0066] Figure 12 This is a schematic diagram of the volume measuring device.

[0067] Figure 13 for Figure 12 A schematic diagram of the structure without the outer cover;

[0068] Figure 14 This is a schematic diagram showing the connection of the integrated compartment, intake valve, connecting valve, and exhaust valve.

[0069] Figure 15 for Figure 14 Main section diagram;

[0070] Figure 16 A schematic diagram showing the transfer device rotating the tray by 90°;

[0071] Figure 17 A schematic diagram showing the pallet moving to a position directly above the cantilever of the placement device;

[0072] Figure 18 A schematic diagram of the cantilever of the support device lifting the tray upwards;

[0073] Figure 19 A schematic diagram showing the product entering the container of the volume measuring device;

[0074] Figure 20 A schematic diagram showing the product moving to the sample chamber directly below the integrated warehouse;

[0075] Figure 21 A schematic diagram showing the product moving into the sample chamber of the integrated warehouse;

[0076] In the diagram: 1-Workbench, 2-Outer shell, 3-Robot arm, 4-Chuck, 5-Volume measuring device, 6-Weighing balance, 7-Transfer device, 8-Shelf device, 9-Conveying device, 10-Pattern, 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 and nut pair, 26-Moving part 27-Servo motor, 28-Bracket, 29-Rod, 30-Positioning pin B; 31-Frame, 32-Lifting cylinder, 33-Lifting plate, 34-Cantilever, 35-Positioning pin C; 36-Arch frame, 37-Outer cover, 38-Integrated compartment, 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-Feed cylinder, 50-Platform, 51-Receiving cylinder; 52-Product, 53-Belt. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0079] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0080] like Figures 1-15 As shown, the present invention provides a fully automatic continuous product density measuring device, including a workbench 1, a robotic arm 3, a volume measuring device 5, a weighing balance 6, a turnover device, and a tray 10. The upper part of the workbench 1 is provided with a shell 2. Inside the shell 2, the upper surface of the workbench 1 is provided with a robotic arm 3 for gripping products. The execution end of the robotic arm 3 is provided with a gripper 4. Multiple volume measuring devices 5 are provided on the left side of the robotic arm 3. A weighing balance 6 for weighing products is provided on the front side of the robotic arm 3.

[0081] A turnover device is provided on the right side of the robotic arm 3. The turnover device includes a transfer device 7 and a resting device 8. The resting device 8 is located on the right side of the weighing balance 6. The transfer device 7 is located on the right side of the resting device 8. The turnover device also includes a longitudinally arranged conveying device 9. The front end of the conveying device 9 is located inside the outer shell 2 and is arranged opposite to the transfer device 7. The rear end of the conveying device 9 extends out of the outer shell 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, with the two positioning holes B13 located outside the two positioning holes A12 respectively.

[0083] The conveying device 9 includes a bracket 14 fixed to the rear side of the workbench 1 and two belt conveyors 15 fixed to the bracket 14. The front ends of the two belt conveyors 15 extend into the outer casing 2, and the extended ends are arranged opposite to the transfer device 7. A lifting assembly 17 for lifting the pallet 10 is provided between the frames 16 of the two belt conveyors 15. The lifting assembly 17 is located on the rear side of the workbench 1.

[0084] A front buffer strip 18 is fixed between the front ends of the frames 16 of the two belt conveyors 15, and a rear buffer strip 19 is fixed between the rear ends of the frames 16 of the two belt conveyors 15. A baffle 20 is also fixed on the top surface of the frames 16 of the two belt conveyors 15 along its length direction, and the distance between the two baffles 20 is equal to the length of the tray 10.

[0085] The lifting assembly 17 includes a fixed plate 21 fixed between two frames 16. A lifting cylinder 22 is fixed on the upper surface of the fixed plate 21. A lifting plate 23 is fixed on the working end of the piston rod of the lifting cylinder 22. Two positioning pins A24 are fixed on the upper surface of the lifting plate 23. The positions of the two positioning pins A24 are engaged with the two positioning holes A12 on the tray 10.

[0086] The transfer device 7 includes a lead screw and nut assembly 25 arranged longitudinally on the workbench 1. The lead screw and nut assembly 25 is provided with a moving part 26. A vertically arranged servo motor 27 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 face of the bracket 28. A positioning pin B30 is fixed on the upper surface of each of the two support rods 29. The positions of the two positioning pins B30 are engaged with the two positioning holes B13 on the tray 10.

[0087] The placement device 8 includes a frame 31 fixed on the workbench 1 and a lifting cylinder 32 fixed inside 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 cantilever arms 34 are fixed on the upper surface of the lifting plate 33. Positioning pins C35 are fixed on the top surface of the two cantilever arms 34. The positions of the two positioning pins C35 are matched with the two positioning holes A12 on the tray 10.

[0088] The volume measuring device 5 includes an arched frame 36 fixed on the workbench 1 and an outer cover 37 fixed on the top wall of the arched frame 36. An integrated chamber 38 located inside the outer cover 37 is fixed on the top wall of the arched frame 36. The integrated chamber 38 has a sample chamber 39 and a reference chamber 40 separated vertically. The lower port of the sample chamber 39 penetrates downward through the top wall of the arched frame 36.

[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 connected to the sample chamber 39 and the reference chamber 40 respectively; an air inlet valve 42 is fixed 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 fixed on the integrated chamber 38, and the exhaust valve 43 is connected to the sample chamber 39; a pressure sensor 44 is also fixed 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 outside the outer cover 37. The left side wall of the integrated chamber 38 is provided with a lower channel 45 and an upper channel 46. The lower channel 45 connects the lower port of the connecting valve 41 to the sample chamber 39, and the upper channel 46 connects the upper port of the connecting valve 41 to 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 working end of the piston rod of the feed cylinder 49. A receiving cylinder 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, lifting cylinder 22, servo motor 27, lead screw and nut pair 25, lifting cylinder 32, linear cylinder 47, feed cylinder 49, pressure sensor 44, connecting valve 41, intake valve 42 and exhaust valve 43 via signal lines. In the initial state, intake valve 42, connecting valve 41 and exhaust valve 43 are all in the closed state.

[0093] A fully automated continuous measurement method for product density includes the following steps:

[0094] S1. The worker takes out a tray 10 and inserts a product 52 to be measured into each blind hole 11 on the tray 10.

[0095] S2. The specific operating steps for transferring the tray 10 and the product 52 on it from the outside of the outer casing 2 to the placement device 8 are as follows:

[0096] S21. The worker stands behind 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 worker controls the two belt conveyors 15 to start simultaneously. The belt conveyors 15 drive the belts 53 to move, and the two belts 53 move the pallet 10 placed on them toward the forward buffer bar 18.

[0097] S22. When the tray 10 is blocked by the front buffer bar 18, the tray 10 is directly above the lifting plate 23 of the lifting assembly 17.

[0098] S23, the piston rod of the lifting cylinder 22 of the lifting assembly 17 moves upward, and the piston rod drives the lifting plate 23 to move upward. The two positioning pins A24 on the lifting plate 23 are respectively inserted into the two positioning holes A12 on the bottom surface of the tray 10. As the lifting plate 23 continues to move upward, the lifting plate 23 lifts the tray 10 upward so that the tray 10 is separated from the belt 53. At this time, the two positioning holes B13 on the bottom surface of the tray 10 are suspended on both sides of the lifting plate 23.

[0099] S24. The moving part 26 of the lead screw and nut pair 25 of the control transfer device 7 moves backward. The moving part 26 drives the servo motor 27, the bracket 28 and the two support rods 29 to move backward synchronously. The two support rods 29 move towards the tray 10. When the moving part 26 moves to the set distance, the controller controls the lead screw and 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 retracted downwards, and the piston rod drives the lifting plate 23 to move downwards. The lifting plate 23 drives the tray 10 to move downwards. During the descent, the two positioning holes B13 on the tray 10 are respectively fitted onto the positioning pins B30 of the two support rods 29. At this time, the tray 10 is just supported between the two support rods 29.

[0101] S26, the moving part 26 of the control screw and nut assembly 25 moves forward, driving the servo motor 27, bracket 28, and support rod 29 to move forward synchronously. The support rod 29 drives the tray 10 to move forward synchronously. When the moving part 26 moves to a set distance, the control screw and nut assembly 25 closes. Then, the control servo motor 27 starts, driving 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°, ... Figure 16 As shown, the controller shuts off the servo motor 27, at which point the tray 10 moves directly above the two cantilever 34 of the placement device 8, as... Figure 17 As shown, the two positioning holes A12 on the tray 10 are respectively located directly above the positioning pins C35 of the two cantilever 34.

[0102] S27. The piston rod of the lifting cylinder 32 of the control device 8 moves upward, and the lifting plate 33 drives the two cantilever arms 34 to move upward synchronously. The cantilever arms 34 drive the positioning pins C35 to move upward, and the two positioning pins C35 are inserted into the two positioning holes A12 of the tray 10 from bottom to top. As the cantilever arms 34 continue to move upward, the two cantilever arms 34 lift the tray 10, as... Figure 18As shown, this allows the tray 10 to be separated from the support rod 29, thereby ultimately enabling the tray 10 and the product 52 on it to be transported from the outside of the housing 2 to the placement device 8, so that the robot arm 3 can then grasp the product 52 on the tray 10.

[0103] As shown in step S2, this measuring device, through the coordinated operation of the conveying device 9, the transfer device 7, and the placement device 8, can quickly transport the pallet 10 and the product 52 on it from the outside of the outer shell 2 to the cantilever 34 of the placement device 8, thereby achieving rapid loading of the product 52. Therefore, compared to manual loading in the workshop, this measuring device eliminates the need for frequent opening and closing of the windows on the outer shell 2, greatly reducing the workload of workers. Furthermore, it shortens the positioning time of the product 52, thereby reducing the loading time of the product 52 and improving the loading efficiency of the product 52, further enhancing the density measurement efficiency.

[0104] S3. Weighing the first product 52: The robot arm 3 is activated, and its gripper 4 holds the first product 52 in the tray 10. After gripping, the robot arm 3 rotates the product 52 onto the weighing balance 6, and then releases the gripper 4. The weighing balance 6 weighs the product 52 and transmits the weight data to the controller. The controller calculates the mass of the product 52: m sample This enabled the weighing of the first product, 52.

[0105] S4. The specific operating steps for measuring the volume of the first product (52) are as follows:

[0106] S41. The robotic arm 3 clamps and fixes the product 52 on the weighing balance 6, and then the robotic arm 3 rotates the product 52 into the receiving cylinder 51 of the volume measuring device 5. Then the clamp 4 is released, and the product 52 sits exactly in the receiving cylinder 51. Figure 19 As shown;

[0107] S42. The linear cylinder 47 is activated, driving the moving block 48 to move towards the arched frame 36. The moving block 48 then drives the feed cylinder 49 and the receiving cylinder 51 to move synchronously towards the arched frame 36. When the moving block 48 has moved a set distance, the controller activates the linear cylinder 47 to close. At this point, the receiving cylinder 51 is directly below the sample chamber 39 of the integrated chamber 38. Figure 20 As shown;

[0108] S43. The piston rod of the feed cylinder 49 extends upward, driving the platform 50 to move upward. The platform 50 then drives the receiving cylinder 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 face of the receiving cylinder 51 just blocks the bottom port of the sample chamber 39. Figure 21 As shown;

[0109] S44. Open the intake valve 42 and introduce helium into the reference chamber 40 through the intake valve 42. After the set time has elapsed, control the intake valve 42 to close and measure the gas pressure in the reference chamber 40 through the pressure sensor 44, which is recorded as P1.

[0110] S45. Open the connecting valve 41. The helium gas in the reference chamber 40 passes through the upper channel 46, the connecting valve 41, and 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. The equilibrium pressure P2 is measured by the pressure sensor 44. After the equilibrium pressure is measured, 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 using the formula. solid ;

[0112] The reference chamber volume is: V ref cm 3 Sample chamber volume: V cell cm 3 V ref and V cell All of these are known.

[0113] As can be seen from step S4, this measuring device replaces the immersion method for measuring the volume of product 52, thus eliminating the need for a subsequent drying process for product 52. This shortens the measurement time for product density and significantly improves the efficiency of product density measurement. Furthermore, through the coordinated operation of the robotic arm 3 and the volume measuring device 5, this measuring device enables continuous and automatic volume measurement of each product 52 on the tray 10. Compared to the immersion measurement method used in the workshop, this shortens the time required to measure the volume of each product 52 on the tray 10, thereby further improving the efficiency of product density measurement.

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

[0115]

[0116] Once the density of the product is calculated, if the measured density of product 52 is within the standard density range, then product 52 is determined to be a qualified product; if the measured density of product 52 is not within the standard density range, then product is determined to be a non-qualified product.

[0117] S6. Removal of product 52 from sample chamber 39: The piston rod of the feed cylinder 49 is controlled to retract downwards, which drives the platform 50 to move downwards. The platform 50 drives the receiving cylinder 51 and product 52 to move downwards, so that product 52 is removed from sample chamber 39. After removal, the moving block 48 of the linear cylinder 47 is controlled to move in the opposite direction, thereby driving product 52 to reset. After product 52 is reset, the gripper 4 of the robot arm 3 holds product 52, and then the robot arm 3 re-grips product 52 into the blind hole 11 of the tray 10, thus 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. After all the products 52 on the tray 10 have been measured, open the window on the outer shell 2, and the worker takes away the tray 10 and removes the defective products from the tray 10.

[0119] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0120] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fully automatic continuous measuring device for measuring the density of a product, characterized in that, The system includes a workbench (1), a robotic arm (3), a volume measuring device (5), a weighing balance (6), a turnover device, and a tray (10). The workbench (1) is equipped with a shell (2) on its upper part. The robotic arm (3) for gripping products is installed inside the shell (2) and on the upper surface of the workbench (1). The robotic arm (3) is equipped with a gripper (4) on its execution end. Multiple volume measuring devices (5) are installed on the left side of the robotic arm (3). A weighing balance (6) for weighing products is installed on the front side of the robotic arm (3). A turnover device is provided on the right side of the robotic arm (3). 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 balance (6). 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 the conveying device (9) is located inside the outer shell (2) and is arranged opposite to the transfer device (7). The rear end of the conveying device (9) extends out of the outer shell (2). The tray (10) is used to place products. 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), with the two positioning holes B (13) located outside the two positioning holes A (12) respectively. The conveying device (9) includes a bracket (14) fixed to the rear side of the workbench (1) and two belt conveyors (15) fixed to the bracket (14). The front ends of the two belt conveyors (15) extend into the outer shell (2) and the extended ends are arranged opposite to the transfer device (7). A lifting assembly (17) for lifting the pallet (10) is provided between the frames (16) of the two belt conveyors (15). The lifting assembly (17) is located on the rear side of the workbench (1). The lifting assembly (17) includes a fixed plate (21) fixed between two frames (16), a lifting cylinder (22) fixed on the upper surface of the fixed plate (21), a lifting plate (23) fixed on the working end of the piston rod of the lifting cylinder (22), and two positioning pins A (24) fixed on the upper surface of the lifting plate (23). The positions of the two positioning pins A (24) are matched with the two positioning holes A (12) on the tray (10). The transfer device (7) includes a screw and nut pair (25) arranged longitudinally on the workbench (1). The screw and nut pair (25) is provided with a moving part (26). A vertically arranged servo motor (27) 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 face of the bracket (28). A positioning pin B (30) is fixed on the upper surface of the two support rods (29). The positions of the two positioning pins B (30) are matched with the two positioning holes B (13) on the tray (10). The placement device (8) includes a frame (31) fixed on the workbench (1) and a lifting cylinder (32) fixed inside 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 cantilever arms (34) are fixed on the upper surface of the lifting plate (33). Positioning pins C (35) are fixed on the top surface of the two cantilever arms (34). The positions of the two positioning pins C (35) are matched with the two positioning holes A (12) on the tray (10).

2. The fully automatic continuous measurement device for measuring product density according to claim 1, characterized in that, A front buffer strip (18) is fixed between the front ends of the frames (16) of the two belt conveyors (15), and a rear buffer strip (19) is fixed between the rear ends of the frames (16) of the two belt conveyors (15). A baffle (20) is also fixed on the upper surface of the frames (16) of the two belt conveyors (15) along its length. The distance between the two baffles (20) is equal to the length of the tray (10).

3. The fully automatic continuous measurement device for measuring product density according to claim 2, characterized in that, The volume measuring device (5) includes an arched frame (36) fixed on the workbench (1) and an outer cover (37) fixed on the top wall of the arched frame (36). An integrated chamber (38) located inside the outer cover (37) is fixed on the top wall of the arched frame (36). The integrated chamber (38) has a sample chamber (39) and a reference chamber (40) separated by an upper and lower partition. The lower end of the sample chamber (39) penetrates downward through the top wall of the arched frame (36).

4. The fully automatic continuous measurement device for measuring product density according to claim 3, 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 connected to the sample chamber (39) and the reference chamber (40) respectively; an air inlet valve (42) is fixed 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 fixed on the integrated chamber (38), and the exhaust valve (43) is connected to the sample chamber (39); a pressure sensor (44) is also fixed on the left side wall of the integrated chamber (38), and the pressure sensor (44) is connected to the reference chamber (40).

5. The fully automatic continuous measurement device for measuring product density according to claim 4, characterized in that, The exhaust port of the exhaust valve (43) and the inlet port of the inlet valve (42) both extend outside the outer cover (37). The left side wall of the integrated chamber (38) is provided with a lower channel (45) and an upper channel (46). The lower channel (45) connects the lower port of the connecting valve (41) to the sample chamber (39), and the upper channel (46) connects the upper port of the connecting valve (41) to the reference chamber (40).

6. The fully automatic continuous measurement device for measuring product density according to claim 5, characterized in that, 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 working end of the piston rod of the feed cylinder (49). A receiving cylinder (51) is fixed on the top surface of the platform (50).

7. The fully automatic continuous measurement device for measuring product density according to claim 6, characterized in that, It also includes a controller, which is electrically connected via signal lines to the belt conveyor (15), lifting cylinder (22), servo motor (27), lead screw and nut assembly (25), lifting cylinder (32), linear cylinder (47), feed cylinder (49), pressure sensor (44), connecting valve (41), intake valve (42) and exhaust valve (43).

8. A fully automatic continuous measurement method for product density, based on the fully automatic continuous measurement device for product density as described in claim 7, characterized in that, Includes the following steps: S1. Take out a tray (10) and insert a product to be measured (52) into each blind hole (11) on the tray (10). S2. Transfer the pallet (10) and the products (52) on it from outside the housing (2) to the placement device (8); The specific steps are as follows: S21. The worker stands behind 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 controls the two belt conveyors (15) to start simultaneously, the belt conveyors (15) drive the belts (53) to move, and the two belts (53) move the pallet (10) placed on them toward the front buffer bar (18); S22. When the tray (10) is blocked by the front buffer strip (18), the tray (10) is directly above the lifting plate (23) of the lifting assembly (17); S23, the piston rod of the lifting cylinder (22) of the lifting assembly (17) moves upward, and the piston rod drives the lifting plate (23) to move upward. The two positioning pins A (24) on the lifting plate (23) are respectively inserted into the two positioning holes A (12) on the bottom surface of the tray (10). As the lifting plate (23) continues to move upward, the lifting plate (23) lifts the tray (10) upward so that the tray (10) is separated from the belt (53). At this time, the two positioning holes B (13) on the bottom surface of the tray (10) are suspended on both sides of the lifting plate (23). S24. The moving part (26) of the screw nut pair (25) of the control transfer device (7) moves backward. The moving part (26) drives the servo motor (27), bracket (28) and two support rods (29) to move backward synchronously. The two support rods (29) move towards 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 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 control lifting cylinder (22) retracts downward, and the piston rod drives the lifting plate (23) to move downward. The lifting plate (23) drives the tray (10) to move downward. During the descent, the two positioning holes B (13) on the tray (10) are respectively fitted onto the positioning pins B (30) of the two support rods (29). At this time, the tray (10) is just supported between the two support rods (29). S26, the moving part (26) of the control screw nut pair (25) moves forward, the moving part (26) drives the servo motor (27), bracket (28), and 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 control screw nut pair (25) closes; then the control servo motor (27) starts, 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°, the controller controls the servo motor (27) to close. At this time, the tray (10) just moves to the top of the two cantilever (34) of the shelf device (8). 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 cantilever (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 cantilever (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 inserted into the two positioning holes A (12) of the tray (10) from bottom to top respectively; as the cantilever (34) continues to move upward, the two cantilever (34) lifts the tray (10) up so that the tray (10) is separated from the support rod (29), thus finally realizing the transfer of the tray (10) and the product (52) on it from the outside of the shell (2) to the shelf device (8) so that the robot arm (3) can grab the product (52) on the tray (10) later; S3, Weighing of the first product (52); The robot arm (3) is started. The gripper (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 balance (6) and then releases the gripper (4). The weighing balance (6) weighs the product (52) and transmits the weighed weight data to the controller. The controller calculates the mass of the product (52): m sample Thus, the weighing of the first product (52) was achieved; S4. Measurement of the volume of the first product (52); S41. The product (52) on the weighing balance (6) is clamped and fixed by the robot arm (3), and then the product (52) is transferred to the container (51) of the volume measuring device (5) by the robot arm (3). Then the clamp (4) is released and the product (52) is placed in the container (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 feed cylinder (49) and the receiving cylinder (51) to move toward the arch frame (36) synchronously. When the moving block (48) moves to the set distance, the controller controls the linear cylinder (47) to close. At this time, the receiving cylinder (51) is just below the sample chamber (39) of the integrated chamber (38). 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 container (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 face of the container (51) just blocks the bottom port of the sample chamber (39); S44. Open the inlet valve (42) and introduce helium into the reference chamber (40) through the inlet valve (42). After the set time has elapsed, control the inlet valve (42) to close and measure the gas pressure in the reference chamber (40) through the pressure sensor (44), which is recorded as P1. S45. Open the connecting valve (41). The helium gas in the reference chamber (40) passes through the upper channel (46), the connecting valve (41), and 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. The equilibrium pressure P2 is measured by the pressure sensor (44). After the equilibrium pressure is measured, open the exhaust valve (43) to discharge the gas in the sample chamber (39) and the reference chamber (40) to the outside. S46. Calculate the volume V of product (52) using the formula. solid ; The reference chamber volume is: V ref Sample chamber volume: V cell V ref and V cell All of these are known. S5. Calculate the density ρ of product (52) using the formula. s ; ； After the density of the product is calculated, if the density of the measured product (52) is within the standard density range, the product (52) is determined to be a qualified product; if the density of the measured product (52) is not within the standard density range, the product is determined to be a non-qualified product. S6. Removal of product (52) from sample chamber (39): Control the piston rod of feed cylinder (49) to retract downwards, the piston rod drives platform (50) to move downwards, platform (50) drives container (51) and product (52) to move downwards, so that product (52) is removed from sample chamber (39); after removal, control the moving block (48) of linear cylinder (47) to move in the opposite direction, thereby driving product (52) to reset; after product (52) is reset, the product (52) is held by the gripper (4) of robot arm (3), and then the product (52) is re-clamped into the blind hole (11) of tray (10) by robot arm (3), thus 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. After all the products (52) on the tray (10) have been measured, open the window on the outer shell (2), and the worker takes away the tray (10) and then removes the defective products on the tray (10).

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