Unbalance-load-resistant glass sucker vehicle weighing device and engineering mechanical equipment

Abstract

The utility model discloses an unbalance-loading-resistant glass sucker vehicle weighing device and engineering machinery equipment, and belongs to the technical field of high-altitude vehicle weighing. The device comprises a suction cup, a first mounting plate, a second mounting plate and a three-dimensional force sensor. The three-dimensional force sensor comprises an elastic element and a pressing block element; the elastic element comprises a first output beam, a second output beam and a third output beam which are used for measuring force in the X direction, the Y direction and the Z direction respectively, corresponding X-direction strain areas, Y-direction strain areas and Z-direction strain areas are arranged on the first output beam, the second output beam and the third output beam respectively, and the first strain gauge set, the second strain gauge set and the third strain gauge set are correspondingly installed in the strain areas respectively. A Wheatstone bridge is formed; a force signal detected by each strain gauge group is led out through a cable; the double-shaft angle sensor and the three-dimensional force sensor are combined to calculate the weight of the glass. According to the utility model, the problem that the stress angle of the glass sucker vehicle is greatly changed can be effectively solved, and accurate weighing during unbalance loading is realized.

Description

Technical Field

[0001] The utility model relates to a glass suction cup vehicle weighing device and engineering mechanical equipment which are resistant to eccentric loading and belong to the technical field of aerial vehicle weighing. Background Art

[0002] The high-altitude suction cup vehicle is a sub-category product in the field of aerial work platforms. It is used to grab and move glass during the installation of glass curtain walls, which greatly saves manpower and improves efficiency and safety. Among them, the corresponding on-board weighing device on the suction cup vehicle is often used to weigh and measure the glass.

[0003] At present, for glass suction cup vehicles, pin force taking and hydraulic force taking are commonly used to take force and weigh the glass. There are at least two problems with pin force taking. Currently, a single-direction force taking pin is used, which can only measure the force value at a fixed angle. Once the force angle changes, the error will increase significantly. At the same time, the pin force measurement is greatly affected by friction and cannot meet the weighing requirements. Hydraulic weighing also has obvious defects. It is not only affected by the ambient temperature, but also the indirect force taking greatly increases the system debugging time.

[0004] Most importantly, the existing weighing device can only measure the force value at a fixed angle. Once the force angle changes, the corresponding error will increase significantly, resulting in poor load resistance and inaccurate weighing. Therefore, the technical defects of the glass suction cup vehicle, such as large force angle changes and large overload, need to be solved urgently when weighing in reality. Utility Model Content

[0005] The utility model aims to provide a glass suction cup vehicle weighing device and engineering machinery equipment that are resistant to off-center loading, aiming to achieve accurate weighing when off-center loading occurs and reduce the interference of the gravity torque of the glass and the suction cup on the output in three directions.

[0006] In order to solve the above technical problems, the utility model is realized by adopting the following technical solutions:

[0007] On the one hand, the utility model provides a glass suction cup vehicle weighing device with an anti-eccentric load, which includes a suction cup, a first mounting plate, a second mounting plate, and a three-dimensional force sensor;

[0008] One side of the three-dimensional force sensor is connected to the suction cup through the first mounting plate, and the other side is connected to the body of the glass suction cup vehicle through the second mounting plate;

[0009] The three-dimensional force sensor includes an elastic element and a pressure block element, and the elastic element and the pressure block element are detachably connected. This split connection can not only solve the problem of difficult pasting, but also avoid the disadvantages of complex process caused by machining.

[0010] The elastic element comprises a first output beam, a second output beam and a third output beam respectively used for measuring forces in the X direction, the Y direction and the Z direction, and the first output beam, the second output beam and the third output beam are respectively provided with corresponding strain areas in the X direction, the Y direction and the Z direction, and the first strain gauge group, the second strain gauge group and the third strain gauge group are respectively installed in each strain area correspondingly to form a Wheatstone bridge;

[0011] A wire outlet hole is provided on one side of the first output beam for leading out the force signals detected by each strain gauge group through a cable; a dual-axis angle sensor is also installed on the suction cup for calculating the glass weight together with the three-dimensional force sensor.

[0012] The utility model solves the technical drawbacks caused by crosstalk when outputting in the three directions by designing the first output beam, the second output beam and the third output beam respectively for measuring the load in the X direction, the Y direction and the Z direction, which not only significantly improves the measurement accuracy, but also effectively guarantees the safety performance of the whole vehicle.

[0013] Optionally, the first output beam and the third output beam are symmetrically arranged, and the second output beam is arranged between the first output beam and the third output beam;

[0014] The X-direction strain zone is arranged at the middle of the upper side of the first output beam, the Y-direction strain zone is arranged at the middle of the front side of the second output beam, and the Z-direction strain zone is arranged at the middle of the rear side of the third output beam;

[0015] Wherein, each strain gauge group correspondingly installed on each strain zone is provided with four strain gauges.

[0016] Optionally, a first through hole is provided in the middle of the elastic element, and a second through hole is provided in a corner of the elastic element close to the third output beam;

[0017] A third through hole corresponding to the first through hole is provided at one corner of the pressing block element, and a fourth through hole corresponding to the second through hole is provided at another opposite corner thereof;

[0018] The second through hole and the fourth through hole are used to match and dock the elastic element and the pressure block element through bolts, and the first through hole and the third through hole are used to match and dock the second mounting plate and the first mounting plate through bolts respectively.

[0019] Optionally, the area of ​​the lower end surface of the elastic element corresponding to the first through hole protrudes 3-5mm more than the area corresponding to the second through hole, and the area of ​​the upper end surface of the pressure block element corresponding to the third through hole protrudes 3-5mm more than the area corresponding to the fourth through hole. The design of the corresponding boss makes the transmission of force more convenient and effective.

[0020] Optionally, each output beam is also provided with a first double beam hole, a second double beam hole and a third double beam hole respectively. The above-mentioned double beam holes enable the corresponding output beam surface to output strain significantly and effectively when the elastic element is subjected to force, and the strain required for the strain gauge detection is more targeted.

[0021] The first double beam hole, the second double beam hole and the third double beam hole respectively penetrate their corresponding output beams, and the penetration direction of each double beam hole is parallel to the strain zone surface where the corresponding strain gauge group is installed.

[0022] Optionally, corresponding protective covers are installed on the X-axis strain area, the Y-axis strain area and the Z-axis strain area, and are fixed to the corresponding output beams by screws. The protective covers can largely prevent the loss of strain gauges and related connection circuits.

[0023] Optionally, each strain area and the corresponding protective cover are covered with a silicone rubber layer, and the silicone rubber layer can play a sealing role.

[0024] Optionally, the anti-eccentric load glass suction cup vehicle weighing device further includes a transmitter for amplifying and filtering the signals output by the first strain gauge group, the second strain gauge group, and the third strain gauge group;

[0025] Among them, 12mA is the zero-point output current value, 4mA is the maximum output current value in the negative direction, and 20mA is the maximum output current value in the positive direction.

[0026] Optionally, the first output beam, the second output beam and the third output beam are in a rectangular parallelepiped shape, and the output beams are integrally formed.

[0027] On the other hand, the utility model also provides an engineering mechanical equipment, which includes the above-mentioned anti-eccentric load glass suction cup vehicle weighing device.

[0028] Compared with the prior art, the utility model has the following beneficial effects:

[0029] (1) In the prior art, due to the effect of bending moment, the measurement results of the sensor cannot accurately reflect the mass of the load. The utility model can effectively eliminate the influence of the eccentric load on the measurement results and solve the mutual crosstalk of the three-directional outputs by designing a reasonable elastic body structure, thereby significantly improving the accuracy and reliability of the measurement results;

[0030] (2) The utility model innovatively adopts a combined structure, which can realize force detection in three directions at the same time, and can conveniently realize the combination of various ranges. In addition, this split design can greatly reduce the problems of difficulty in patching and complex machining process caused by the integrated structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the glass suction cup vehicle weighing device for resisting off-center loading of the utility model;

[0032] Figure 2 It is a structural schematic diagram of the three-dimensional force sensor in the utility model;

[0033] Figure 3 It is a structural schematic diagram of the elastic element in the utility model;

[0034] Figure 4 for Figure 3 A schematic top view corresponding to the elastic element;

[0035] Figure 5 for Figure 3 Schematic diagram of the front view corresponding to the elastic element.

[0036] In the figure: 1-suction cup; 2-first mounting plate; 3-second mounting plate; 4-elastic element; 5-pressing element; 6-first output beam; 7-second output beam; 8-third output beam; 9-X-direction strain zone; 10-Y-direction strain zone; 11-Z-direction strain zone; 12-first strain gauge group; 13-second strain gauge group; 14-third strain gauge group; 15-wire outlet hole; 16-cable; 17-first through hole; 18-second through hole; 19-third through hole; 20-fourth through hole; 21-first double beam hole; 22-second double beam hole; 23-third double beam hole; 24-protective cover; 25-transmitter; 26-end cover. DETAILED DESCRIPTION

[0037] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.

[0038] Example 1

[0039] like Figure 1 As shown, this embodiment provides a glass suction cup vehicle weighing device that resists off-center loading, which includes a suction cup 1, a first mounting plate 2, a second mounting plate 3, and a three-dimensional force sensor;

[0040] One side of the three-dimensional force sensor is connected to the suction cup 1 through the first mounting plate 2, and the other side is connected to the body of the glass suction cup vehicle through the second mounting plate 3;

[0041] The three-dimensional force sensor includes an elastic element 4 and a pressure block element 5, and the elastic element 4 and the pressure block element 5 are detachably connected. This split connection can not only solve the problem of difficult pasting, but also avoid the disadvantages of complex process caused by machining.

[0042] The elastic element 4 includes a first output beam 6, a second output beam 7 and a third output beam 8 for measuring forces in the X direction, the Y direction and the Z direction respectively, and the first output beam 6, the second output beam 7 and the third output beam 8 are respectively arranged with corresponding X-direction strain areas 9, Y-direction strain areas 10 and Z-direction strain areas 11, and the first strain gauge group 12, the second strain gauge group 13 and the third strain gauge group 14 are respectively installed in each strain area correspondingly to form a Wheatstone bridge. The Huygens bridge method adopted by the measurement circuit can provide a stable voltage for the strain gauge, and at the same time extract the signal generated by the change of the elastic element to achieve force measurement.

[0043] A wire outlet hole 15 is provided on one side of the first output beam 6, which is used to lead out the force signal detected by each strain gauge group through a cable 16 to be transmitted to the vehicle controller; further, a dual-axis angle sensor is also installed on the suction cup 1, and the force signal output by each strain gauge group and the angle signal output by the dual-axis angle sensor are collected at the vehicle controller to achieve the purpose of calculating the weight of the glass by the combined force.

[0044] When the glass suction cup vehicle of the utility model is weighing, forces in three directions of XYZ and bending moments along the Z axis will exist simultaneously in the spatial coordinate system. Under the action of the bending moments, although the resistance of each strain gauge will change, the algebraic difference of the voltage after the bridge is assembled is very small or even 0, so as to effectively eliminate the influence of the relevant bending moments on the output.

[0045] Example 2

[0046] Based on Example 1, Figures 1 to 5 , this embodiment also has the following design:

[0047] First of all, it is worth explaining that a three-dimensional force sensor is a sensor that can measure the force components in three directions at the same time. The three-dimensional force sensor achieves the stability of the sensor output through the structural design of the elastic element and the pressure block element and the reasonable patch layout of the resistance strain gauge. Specifically, the working principle of the three-dimensional force sensor is as follows:

[0048] One end of the sensor is fixed, and the force is applied to the other end of the sensor. The strain beam of the sensor will produce corresponding deformation according to the force component of the three-dimensional force. At this time, the resistance strain sensing element (resistance) installed in the strain sensitive part will produce corresponding size changes. The resistance change is converted into a voltage signal change through the bridge circuit, and the voltage signal change is linearly related to the size of the applied force, so as to detect the size of the component of the three-dimensional force in space. The three-dimensional torque in space will cause the strain beam in the corresponding direction to produce a deformation output voltage signal, but it will be balanced through the Wheatstone bridge circuit, and the voltage signal output generated in other directions is very small and can be ignored, so as to achieve anti-eccentric load, thereby detecting the size of the three-dimensional torque in space.

[0049] Specifically, when the elastic element 4 of the sensor is subjected to a force in the X direction, the bridge circuit composed of R1, R2, R3 and R4 strain gauges outputs a current signal proportional to the magnitude of Fx through the transmitter 25; when subjected to a force in the Y direction, the bridge circuit composed of R5, R6, R7 and R8 strain gauges outputs a current signal proportional to the magnitude of Fy through the transmitter 25; when subjected to a force in the Z direction, the bridge circuit composed of R5, R6, R7 and R8 strain gauges outputs a current signal proportional to the magnitude of Fz through the transmitter 25; further, in conjunction with the angle value measured by the dual-axis angle sensor, the magnitude of the resultant force is calculated based on the decomposition of the spatial force, and then the weight of the glass is calculated.

[0050] Correspondingly, the first output beam 6 and the third output beam 8 are symmetrically arranged, and the second output beam 7 is arranged between the first output beam 6 and the third output beam 8;

[0051] The X-direction strain zone 9 is arranged at the middle of the upper side of the first output beam 6, the Y-direction strain zone 10 is arranged at the middle of the front side of the second output beam 7, and the Z-direction strain zone 11 is arranged at the middle of the rear side of the third output beam 8. The design of the relevant positions can ensure that the strain zones are subjected to a single force and the stress distribution is uniform, so that the structure has a certain anti-eccentric load and lateral load capacity accordingly.

[0052] Among them, each strain gauge group installed correspondingly on each strain zone is provided with four strain gauges, that is, a total of 12 strain gauges are provided. The strain gauge is an inductive element, which can change the length of the strain gauge and the resistance wire in the strain gauge as the elastic body deforms by sticking to the corresponding output beam, that is, the elastic body deformation caused by the external force during force measurement is converted into a change in the resistance, so that the voltage signal acting on the resistance changes to achieve force measurement.

[0053] A first through hole 17 is provided in the middle of the elastic element 4, and a second through hole 18 is provided at a corner of the elastic element 4 close to the third output beam 8;

[0054] A third through hole 19 corresponding to the first through hole 17 is provided at one corner of the pressing block element 5, and a fourth through hole 20 corresponding to the second through hole 18 is provided at the other opposite corner thereof;

[0055] The second through hole 18 and the fourth through hole 20 are used to connect the elastic element 4 and the pressure block element 5 by bolts, and the first through hole 17 and the third through hole 19 are used to connect the second mounting plate 3 and the first mounting plate 2 by bolts.

[0056] The area of ​​the lower end surface of the elastic element 4 corresponding to the first through hole 17 protrudes 3-5mm more than the area corresponding to the second through hole 18, and the area of ​​the upper end surface of the pressure block element 5 corresponding to the third through hole 19 protrudes 3-5mm more than the area corresponding to the fourth through hole 20. The design of the corresponding boss makes the transmission of force more convenient and effective.

[0057] In addition, a gap of 2-3 mm is left between the elastic element 4 and the pressing block element 5 .

[0058] Each output beam is also provided with a first double beam hole 21, a second double beam hole 22 and a third double beam hole 23 respectively. The above double beam holes enable the corresponding output beam surface to output strain significantly and effectively when the elastic element is subjected to force, so that the strain required for strain gauge detection is more targeted.

[0059] The first double beam hole 21, the second double beam hole 22 and the third double beam hole 23 respectively penetrate the corresponding output beams, and the penetration direction of each double beam hole is parallel to the strain zone surface where the corresponding strain gauge group is installed.

[0060] Corresponding protective covers 24 are also installed on the X-direction strain area 9, the Y-direction strain area 10 and the Z-direction strain area 11, and are fixed to the corresponding output beams by screws. The protective covers 24 can largely prevent the loss of strain gauges and related connection circuits.

[0061] A silicone rubber layer is also covered between each strain area and the corresponding protective cover 24 , and the silicone rubber layer can play a sealing role.

[0062] An end cover 26 is further provided at one end of the second output beam 7 close to the transmitter 25. A circuit is provided in the inner cavity corresponding to the end cover 26, and the end cover plays the role of encapsulating the circuit.

[0063] The transmitter 25 is used to amplify and filter the signals output by the first strain gauge group 12, the second strain gauge group 13 and the third strain gauge group 14. In addition to the filtering technology used to remove noise, a calibration method can also be used to correct the error caused by the offset load. Specifically, 12mA is the zero point output current value, 4mA is the maximum output current value in the negative direction, and 20mA is the maximum output current value in the positive direction.

[0064] The first output beam 6 , the second output beam 7 and the third output beam 8 are in a rectangular parallelepiped shape, and the output beams are integrally formed.

[0065] In addition, the relevant elastic element 4 and the pressure block element 5 should be made of high-strength, high-elasticity and stable metal materials to improve the sensor's ability to withstand eccentric loads. Specifically, the elastic element 4 and the pressure block element 5 can be made of martensitic aging steel, which has good elasticity, high strength, high impact toughness and fatigue strength, good stability of elastic modulus with temperature changes, good mechanical processing performance and heat treatment process performance, and can effectively ensure the measurement accuracy and stability of the sensor.

[0066] In specific applications of this embodiment, after the three-dimensional force sensor senses the load at the glass suction cup 1, the three groups of XYZ strain gauges pasted inside it generate positive bending strain, which in turn causes the strain gauge resistance to change, and outputs a voltage signal through a related circuit. The voltage signal outputs three groups of 4-20mA current signals through a transmitter 25, outputting 4mA when no force is applied and 20mA when fully loaded. At the same time, a dual-axis angle sensor is installed at the suction cup 1 to calculate the weight of the glass based on the synthesis and decomposition of spatial force.

[0067] Example 3

[0068] This embodiment provides an engineering mechanical equipment, such as a high-altitude glass suction cup vehicle, which includes the anti-eccentric load glass suction cup vehicle weighing device of the above-mentioned embodiment 1 or embodiment 2.

[0069] It should be understood that in the description of the present application, the directions or positional relationships indicated by the terms "center", "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the spray gun or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present disclosure / application.

[0070] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0071] In the description of this application, 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 this application can be understood by specific circumstances.

Claims

1. A glass suction cup weighing device for resisting off-center loading, comprising a suction cup (1), a first mounting plate (2) and a second mounting plate (3), characterized in that: It also comprises a three-dimensional force sensor, one side of the three-dimensional force sensor is connected to the suction cup (1) via the first mounting plate (2), and the other side of the three-dimensional force sensor is connected to the body of the glass suction cup vehicle via the second mounting plate (3); The three-dimensional force sensor comprises an elastic element (4) and a pressure block element (5), wherein the elastic element (4) and the pressure block element (5) are detachably connected; The elastic element (4) comprises a first output beam (6), a second output beam (7) and a third output beam (8) for measuring forces in the X direction, the Y direction and the Z direction respectively, and the first output beam (6), the second output beam (7) and the third output beam (8) are respectively provided with corresponding X-direction strain areas (9), Y-direction strain areas (10) and Z-direction strain areas (11), and the first strain gauge group (12), the second strain gauge group (13) and the third strain gauge group (14) are respectively installed in the strain areas correspondingly to form a Wheatstone bridge; A wire outlet hole (15) is provided on one side of the first output beam (6) for leading out force signals detected by each strain gauge group through a cable (16); a dual-axis angle sensor is also installed on the suction cup (1) for calculating the weight of the glass in combination with the three-dimensional force sensor.

2. The anti-eccentric loading glass suction cup weighing device according to claim 1 is characterized in that: The first output beam (6) and the third output beam (8) are symmetrically arranged, and the second output beam (7) is arranged between the first output beam (6) and the third output beam (8); The X-direction strain zone (9) is arranged at the middle of the upper side of the first output beam (6), the Y-direction strain zone (10) is arranged at the middle of the front side of the second output beam (7), and the Z-direction strain zone (11) is arranged at the middle of the rear side of the third output beam (8); Wherein, each strain gauge group correspondingly installed on each strain zone is provided with four strain gauges.

3. The anti-eccentric loading glass suction cup weighing device according to claim 2 is characterized in that: A first through hole (17) is provided in the middle of the elastic element (4), and a second through hole (18) is provided at a corner of the elastic element (4) close to the third output beam (8); A third through hole (19) corresponding to the first through hole (17) is provided at one corner of the pressing block element (5), and a fourth through hole (20) corresponding to the second through hole (18) is provided at the other opposite corner; The second through hole (18) and the fourth through hole (20) are used to match and dock the elastic element (4) and the pressure block element (5) through bolts, and the first through hole (17) and the third through hole (19) are used to match and dock the second mounting plate (3) and the first mounting plate (2) through bolts, respectively.

4. The anti-eccentric loading glass suction cup vehicle weighing device according to claim 1 or 3, characterized in that: The area of ​​the lower end surface of the elastic element (4) corresponding to the first through hole (17) protrudes 3-5 mm more than the area of ​​the lower end surface corresponding to the second through hole (18), and the area of ​​the upper end surface of the pressure block element (5) corresponding to the third through hole (19) protrudes 3-5 mm more than the area of ​​the upper end surface corresponding to the fourth through hole (20).

5. The anti-eccentric loading glass suction cup weighing device according to claim 4 is characterized in that: Each output beam is also provided with a first double beam hole (21), a second double beam hole (22) and a third double beam hole (23) respectively and correspondingly; The first double beam hole (21), the second double beam hole (22) and the third double beam hole (23) respectively penetrate their corresponding output beams, and the penetration direction of each double beam hole is parallel to the strain zone surface where the corresponding strain gauge group is installed.

6. The anti-eccentric loading glass suction cup vehicle weighing device according to claim 1 or 5, characterized in that: Corresponding protective covers (24) are also installed on the X-direction strain zone, the Y-direction strain zone and the Z-direction strain zone respectively, and are fixedly connected to the corresponding output beams by means of screws.

7. The anti-eccentric loading glass suction cup weighing device according to claim 6, characterized in that: A silicone rubber layer is also covered between each strain area and the corresponding protective cover for sealing.

8. The anti-eccentric loading glass suction cup weighing device according to claim 1, characterized in that: Also included is a transmitter (25) for amplifying and filtering the signals output by the first strain gauge group, the second strain gauge group, and the third strain gauge group; Among them, 12mA is the zero-point output current value, 4mA is the maximum output current value in the negative direction, and 20mA is the maximum output current value in the positive direction.

9. The anti-eccentric loading glass suction cup weighing device according to claim 1, characterized in that: The first output beam (6), the second output beam (7) and the third output beam (8) are in the shape of a rectangular parallelepiped, and the output beams are integrally formed.

10. An engineering machinery equipment, characterized in that: It comprises the anti-eccentric loading glass suction cup vehicle weighing device as described in any one of claims 1 to 9.

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