Food raw material weighing system, device and method

Abstract

The invention provides a food raw material weighing system, device and method. The food raw material weighing system comprises a mechanical arm, a suction cup, a suction cup connecting piece, a mechanical arm force control sensor and a control unit. The suction cup is installed at the execution tail end of the mechanical arm. The suction cup connecting piece is fixedly connected with the suction cup and the mechanical arm force control sensor. The mechanical arm force control sensor is installed on the mechanical arm and directly connected with the suction cup connecting piece. The mechanical arm moves to the position above the food raw materials when the food raw materials are conveyed to the suction range of the mechanical arm through the conveying line, the food raw materials are sucked through the suction cup, and the mechanical arm force control sensor measures the gravity Fn borne by the food raw materials in the suspended state of the food raw materials; the control unit is connected to the mechanical arm force control sensor and used for calculating mass m based on the gravity Fn borne by the food raw materials and the gravitational acceleration g, and m = Fn / g. According to the invention, automatic weighing is realized, and the efficiency and precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of weighing debugging, in particular to a food raw material weighing system, device and method. BACKGROUND

[0002] Traditional manual weighing relies on electronic scales, which is low in efficiency and limited in use scenarios.

[0003] The current ordinary weighing method through a mechanical arm is that the mechanical arm clamps and places the raw material on a weighing table for weighing. The mechanical arm cannot sense the weight information and cannot complete the closed-loop control process of weighing and feeding. It is difficult for the mechanical arm to cooperate with the weighing device.

[0004] Patent application document CN108298148A discloses an automatic food weighing device, which comprises a weighing device, a conveying device, a conveyor belt, a support rod and a bagging clamp. The conveying device is arranged at the left upper end of the weighing device. The conveyor belt is arranged at the right side of the weighing device. The support rod is arranged at the right side of the bottom end of the conveyor belt. The bagging clamp is arranged at the right end of the support rod. The weighing device comprises a control instrument, a lifting rod and a weighing pan. The control instrument is arranged on the side of the weighing device. The lifting rod is arranged at the upper end of the weighing device. The weighing pan is arranged at the upper end of the lifting rod and is movably connected with the lifting rod through a pin. The conveying device comprises a driving wheel, a driven wheel and a controller. The driving wheel is arranged at the left end of the conveying device. The driven wheel is arranged at the right end of the conveying device. The controller is arranged on the driving wheel and is electrically connected with the control instrument. However, this patent cannot completely solve the existing technical problems and cannot meet the needs of the present application. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a food raw material weighing system, device and method.

[0006] The food raw material weighing system provided by the present application comprises a mechanical arm, a suction cup, a suction cup connecting piece, a mechanical arm force control sensor and a control unit.

[0007] The suction cup is installed at the execution end of the mechanical arm.

[0008] The suction cup connecting piece fixedly connects the suction cup and the mechanical arm force control sensor.

[0009] The mechanical arm force control sensor is installed on the mechanical arm and directly connected with the suction cup connecting piece.

[0010] When the food raw material is conveyed to the suctionable range of the mechanical arm by the conveying line, the mechanical arm moves above the food raw material, the food raw material is sucked by the suction cup, and the mechanical arm force control sensor measures the gravity Fn of the food raw material in the suspended state.

[0011] The control unit is connected to the mechanical arm force control sensor, and is configured to calculate the mass m based on the gravity Fn and the gravity acceleration g borne by the food raw material, where m = Fn / g.

[0012] Preferably, the mechanical arm force control sensor comprises a filtering module configured to eliminate motion noise by applying a Kalman filtering algorithm, and the filtering module is integrated in a signal processing circuit of the mechanical arm force control sensor.

[0013] Preferably, the control unit further comprises a conversion module configured to convert the mass m from kilogram units to gram units to obtain the weight M, where M = m*1000.

[0014] Preferably, the system further comprises a communication interface connected to the control unit and configured to transmit the mass m or the weight M to a host computer, and the communication interface communicates with the host computer through a wired or wireless protocol.

[0015] Preferably, the mechanical arm maintains a hovering state when the mechanical arm force control sensor measures Fn, and the hovering state is achieved by a motion control module of the mechanical arm, and the motion control module is integrated in a driving system of the mechanical arm.

[0016] Preferably, the mechanical arm force control sensor moves the center of gravity of the food raw material upward after the suction cup sucks the food raw material, so that the food raw material is separated from the conveying line and suspended above the conveying line.

[0017] Preferably, the suction cup is a vacuum suction cup that sucks the food raw material by negative pressure, and the suction cup connecting member is a rigid member that ensures the stability of the force transmission path between the suction cup and the mechanical arm force control sensor.

[0018] Preferably, the conveying line is a continuous motion conveyor that pushes the food raw material to the suctionable range of the mechanical arm.

[0019] According to the present application, a food raw material weighing device is provided, which applies the food raw material weighing system.

[0020] According to the present application, a food raw material weighing method is provided, which comprises the following steps:

[0021] Step 1: conveying the food raw material to the suctionable range of the mechanical arm through the conveying line;

[0022] Step 2: controlling the mechanical arm to move above the food raw material;

[0023] Step 3: sucking the food raw material by the suction cup, and the suction cup is fixedly connected to the mechanical arm force control sensor through the suction cup connecting member;

[0024] Step 4: Measure the gravity Fn suffered by the food raw material through the mechanical arm force control sensor under the suspended state of the food raw material;

[0025] Step 5: Calculate the mass m based on Fn and the gravity acceleration g through the control unit, wherein m = Fn / g;

[0026] Step 6: Transmit the mass m to the upper computer through the communication interface, wherein the mechanical arm remains in the hovering state when measuring Fn.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] The present application realizes automatic weighing through the mechanical arm force control sensor, improves efficiency and accuracy, enables the mechanical arm to accurately drop food according to the feedback weight, and at the same time improves the dustproof and oil-proof ability of the system, enhances the stability and service life of the equipment; compared with the time-consuming and error rate of traditional manual / equipment weighing, the accuracy of the present application is ±0.5g, and the efficiency is improved by 50%. BRIEF DESCRIPTION OF DRAWINGS

[0029] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0030] Fig. 1 is a schematic diagram of sucking food raw material;

[0031] Fig. 2 is a schematic diagram of the front view of sucking food raw material;

[0032] Fig. 3 is a schematic diagram of not sucking food raw material;

[0033] Fig. 4 is a schematic diagram of the front view of not sucking food raw material;

[0034] Wherein, 1 -suction cup; 2 -suction cup connecting piece; 3 -mechanical arm force control sensor; 4 -food raw material. DETAILED DESCRIPTION

[0035] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0036] EMBODIMENT

[0037] In view of the problem that in traditional technology, the robotic arm grasps the raw materials and places them on the weighing platform for weighing, the robotic arm cannot sense the weight information, cannot complete the closed-loop control process of weighing and placing, and the robotic arm and the weighing device have difficulty in coordinating, the technical solution adopted by the present invention is:

[0038] The robotic arm force control sensor and the robotic arm are connected via the ModBusTCP bus to send and receive data.

[0039] When the robotic arm successfully absorbs the raw material, the robotic arm sends the command "Start". After the robotic arm force control sensor receives "Start", it starts the torque sensor;

[0040] Timing of starting the robotic arm force control sensor: After the robotic arm absorbs the raw materials, it sends a command to start.

[0041] When the robot arm obtains the weight value of the raw material, the weight value of the raw material will be stored in the robot arm global variable "Weight". The robot arm judges the command:

[0042] IF Weight>Delivery value

[0043] Execute delivery

[0044] EndIF

[0045] When the conditions are met, the robotic arm executes the delivery, achieving closed-loop control of weighing and delivery.

[0046] Specifically, the present invention provides a food raw material weighing system. The previous process transports the food raw materials to the production line. After reaching the suction range of the robotic arm, the robotic arm sucks the food raw materials and obtains the food raw material Fn (the gravity exerted on the object) through the robotic arm force control sensor. The weight of the food raw material can be obtained according to the formula Fn=mg. After the weight is obtained, the food raw material weight data and status information are transmitted to the host computer.

[0047] like Figs. 1 to 4 , food raw material weighing system includes:

[0048] Suction cup 1: used to suck up food ingredients.

[0049] Suction cup connector 2: used to connect the suction cup 1 and the robotic arm force control sensor 3 into a whole.

[0050] Robotic arm force control sensor 3: responsible for moving the center of gravity of the food raw materials upwards so that they are off the conveyor line and suspended in the air to achieve accurate weighing.

[0051] Food ingredients 4.

[0052] Working principle:

[0053] 1. The mechanical arm grasps the raw material: The food raw material 4 is pushed into the suction range of the mechanical arm by the conveying line.

[0054] 2. Suspended weighing preparation: The mechanical arm moves above the food raw material 4, the suction cup 1 is started, the food raw material 4 is sucked, it is separated from the conveying line and suspended above the weighing table, which is convenient for subsequent accurate weighing.

[0055] 3. Weighing process:

[0056] The mechanical arm force control sensor 3 senses the weight of the food sucked by the suction cup 1.

[0057] The mechanical arm force control sensor 3 obtains the weight information Fn of the food raw material 4: the weight of the object. The mechanical arm force control sensor 3 cooperates with the mechanical arm to control the increase of the filtering algorithm (Kalman filtering) to eliminate motion noise and ensure the weighing accuracy.

[0058] Fn=m*g represents the weight of the object (or the supporting force, which needs to be combined with the specific situation), unit: Newton (N); m represents the mass of the object, unit: kilogram (kg); g represents the acceleration of gravity, which is related to the position of the object (such as the surface of the earth g≈9.8m / s 2 ), m=Fn / 9.8.

[0059] 4. Final weight:

[0060] After obtaining the weight m, the weight unit kg needs to be converted to g.

[0061] M=m*1000

[0062] Control and communication: the whole process is controlled by the mechanical arm, the mechanical arm force control sensor 3 controls the action of the suction cup 1. The mechanical arm force control sensor 3 transmits the weight data and state information to the upper computer or the mechanical arm controller to realize closed-loop control.

[0063] The application also provides a food raw material weighing device which applies the food raw material weighing system.

[0064] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0065] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures in the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures in the hardware component.

[0066] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims

1. A food raw material weighing system, characterized in that: include: Robotic arm, suction cup, suction cup connector, robot arm force control sensor and control unit; The suction cup is installed at the execution end of the robotic arm; The suction cup connector is fixedly connected to the suction cup and the robotic arm force control sensor; The robotic arm force control sensor is mounted on the robotic arm and directly connected to the suction cup connector; When the food raw materials are transported from the conveyor line to the suction range of the robotic arm, the robotic arm moves to the top of the food raw materials and sucks the food raw materials through the suction cup. The force control sensor of the robotic arm measures the gravity Fn exerted on the food raw materials when the food raw materials are suspended in the air. The control unit is connected to the robotic arm force control sensor and is used to calculate the mass m based on the gravity Fn and the gravitational acceleration g exerted on the food raw material, where m=Fn / g.

2. The food material weighing system according to claim 1, characterized in that: The robotic arm force control sensor includes a filtering module, which applies a Kalman filtering algorithm to eliminate motion noise, wherein the filtering module is integrated into a signal processing circuit of the robotic arm force control sensor.

3. The food material weighing system according to claim 1, characterized in that: The control unit further includes a conversion module, which converts the mass m from kilograms to grams to obtain a weight M, wherein M=m*1000.

4. The food material weighing system according to claim 3, characterized in that: The system further comprises a communication interface connected to the control unit for transmitting the mass m or weight M to a host computer, wherein the communication interface communicates with the host computer via a wired or wireless protocol.

5. The food material weighing system according to claim 1, characterized in that: The robotic arm maintains a hovering state when the robotic arm force control sensor measures Fn, and the hovering state is achieved by a motion control module of the robotic arm, wherein the motion control module is integrated into a drive system of the robotic arm.

6. The food material weighing system according to claim 1, characterized in that: After the suction cup absorbs the food raw material, the mechanical arm force control sensor moves the center of gravity of the food raw material upward, so that the food raw material is separated from the conveyor line and suspended above the conveyor line.

7. The food material weighing system according to claim 1, characterized in that: The suction cup is a vacuum suction cup that absorbs food materials through negative pressure, wherein the suction cup connector is a rigid component that ensures the force transmission path between the suction cup and the robotic arm force control sensor.

8. The food material weighing system according to claim 1, characterized in that: The conveying line is a continuously moving conveyor belt that pushes the food raw materials into the suction range of the robotic arm.

9. A food material weighing device, characterized in that: A food raw material weighing system according to any one of claims 1 to 9 is used.

10. A food raw material weighing method based on the food raw material weighing system according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: Transport the food raw materials to the suction range of the robotic arm through the conveyor line; Step 2: Control the robotic arm to move above the food ingredients; Step 3: sucking up the food material through the suction cup, wherein the suction cup is fixedly connected to the robotic arm force control sensor through a suction cup connector; Step 4: When the food material is suspended in the air, the force Fn exerted on the food material is measured by the force control sensor of the robotic arm; Step 5: The control unit calculates the mass m based on Fn and gravitational acceleration g, where m = Fn / g; Step 6: The mass m is transmitted to the host computer through the communication interface, where the robotic arm remains in a hovering state while measuring Fn.

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