A transport robot with a weighing device

Abstract

The utility model relates to the technical field of handling robots, and in particular to a handling robot with a weighing device, comprising a handling robot mobile chassis and a weighing device for carrying goods, wherein the weighing device comprises a lower bottom plate and a top plate installed above the lower bottom plate, wherein at least two guide assemblies and at least one pressure sensor assembly are arranged between the lower bottom plate and the top plate; the guide assembly comprises a guide shaft, wherein the lower end of the guide shaft is fixed to the lower bottom plate, the top plate is provided with a guide hole matched with the upper end of the guide shaft, an outer steel sleeve is installed in the guide hole, and an inner steel sleeve matched with the outer steel sleeve is installed at the upper end of the guide shaft; the technical scheme innovates the structure of the weighing device, not only making each weighing sensor bear only the gravity of the load during the jacking process, but also the horizontal lateral force of the movement process is mainly borne by the special guide assembly, and the four pressure sensor assemblies distributed at the four corners can not only weigh the total weight of the load, but also calculate the horizontal position of the center of gravity of the load.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a transport robot with a weighing device. Background Art

[0002] Handling robots are increasingly being used in various scenarios. For example, a logistics warehouse has deployed 500 handling robots. In some cases, it is necessary to know the weight of the goods carried by the handling robot to prevent the handling robot from being damaged due to excessive weight of the goods. Sometimes it is even necessary to know the approximate location of the center of gravity of the goods to prevent the goods from tipping over during movement. After obtaining the weight and center of gravity information of the goods, the handling robot can not only prevent overweight or tipping of the goods, but also better control the acceleration and deceleration parameters of the operation process, and provide the warehouse or factory management system software with information such as the weight and center of gravity of the goods carried. The management system software performs optimized management based on this information.

[0003] In the prior art, patent number CN114890340A has published an invention patent for a movable weighing system AGV trolley. It includes an AGV, a weighing module assembly, and a weighing plate. The weighing plate is fixed to four weighing module assemblies, and the four weighing module assemblies are fixed to the AGV. In practice, it is found that with this structure, the weighing module assembly needs to withstand forces caused by non-gravity factors such as acceleration, deceleration, and turning during movement. In addition, in order to ensure the stability of the weighing plate during movement and prevent horizontal displacement, the installation accuracy and fastening requirements of the four weighing module assemblies are relatively high. Utility Model Content

[0004] The utility model aims to provide an innovative technical solution to improve the above-mentioned deficiencies in the prior art.

[0005] A handling robot with a weighing device comprises a handling robot mobile chassis and a weighing device for carrying goods, the weighing device comprises a lower base plate and a top plate installed above the lower base plate, at least two guide assemblies and at least one pressure sensor assembly are arranged between the lower base plate and the top plate; the guide assembly comprises a guide shaft, the lower end of the guide shaft is fixed to the lower base plate, the top plate is provided with a guide hole matched with the upper end of the guide shaft, one end of the pressure sensor is fixed to the lower base plate, and the other end of the pressure sensor supports the lower surface of the top plate.

[0006] Furthermore, an outer steel sleeve is installed in the guide hole, and an inner steel sleeve matching with the outer steel sleeve is assembled at the upper end of the guide shaft, and the inner steel sleeve and the outer steel sleeve form a sliding pair.

[0007] Furthermore, a limit plate is installed at the end of the guide shaft of the guide assembly, and a gap is left between the limit plate and the outer steel sleeve in the height direction.

[0008] Furthermore, four pressure sensor components are provided, and the four components are distributed at four corner ends of the lower base plate and the top plate.

[0009] Furthermore, one end of the pressure sensor is fixed to the lower base plate, and the other end of the pressure sensor supports the lower surface of the top plate. The four pressure sensor assemblies distributed at the four corners can not only weigh the total weight of the load, but also calculate the horizontal position of the center of gravity of the load.

[0010] Furthermore, a wear-resistant sheet is fixed to the lower surface of the top plate in contact with the pressure sensor assembly.

[0011] Furthermore, one end of the pressure sensing assembly supporting the top plate supports the wear-resistant sheet fixed to the lower surface of the top plate through a weighing screw.

[0012] The beneficial effect of the utility model is that the technical scheme innovates the structure of the weighing device, not only making each weighing sensor only bear the gravity of the load during the lifting process, but also the horizontal lateral force of the movement process is mainly borne by the special guide component; thus, while ensuring the weighing accuracy, the requirements for the strength and processing accuracy of the structural parts are reduced, and the influence of non-gravity factors on the sensor is greatly reduced.

[0013] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The utility model is a handling robot with a weighing device;

[0015] Figure 2 The front view, top view, and top view of the transparent top plate of the weighing device of the utility model are shown;

[0016] Figure 3 It is an exploded diagram of the parts of the weighing device of the utility model;

[0017] Figure 4 It is a schematic diagram of the composition and installation of the pressure sensor assembly of the weighing device of the utility model;

[0018] Figure 5 The present invention is a schematic diagram of the composition and installation of the guide shaft assembly of the weighing device.

[0019] The accompanying drawings in the figure are marked as: weighing device-1, lower base plate-2, top plate-3, guide assembly-4, pressure sensor assembly-5, guide shaft-401, guide hole-402, outer steel sleeve-403, inner steel sleeve-404, limit plate-405, gap-406, wear-resistant plate-6, weighing screw-7. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The utility model comprises a transport robot mobile chassis and a weighing device 1 for carrying goods, wherein the weighing device 1 comprises a lower bottom plate 2 and a top plate 3 installed above the lower bottom plate 2, wherein at least two guide assemblies 4 and a pressure sensor assembly 5 are arranged between the lower bottom plate 2 and the top plate 3; the guide assembly 4 comprises a guide shaft 401, wherein the lower end of the guide shaft 401 is fixed to the lower bottom plate 2, the top plate 3 is provided with a guide hole 402 matched with the upper end of the guide shaft 401, an outer steel sleeve 403 is installed in the guide hole 402, and an inner steel sleeve 404 matched with the outer steel sleeve 403 is assembled on the side of the upper end of the guide shaft 401. A sliding pair is formed between the outer steel sleeve (403) and the inner steel sleeve (404).

[0022] This technical solution is mainly aimed at innovating the structure of the weighing device 1, specifically the design of the guide assembly 4 and the sensor assembly; first, the top plate 3 has its own gravity, and the cargo it carries also has gravity, and the top plate 3 is always supported by the four sensor assemblies 5 at the end corners. Then the left and right guide shafts 401 are designed, and their function is to withstand the horizontal force generated by the top plate 3 and the cargo it carries. It not only plays the role of fixing the horizontal position of the top plate 3 and the cargo it carries, but also eliminates the need for four sensor assemblies 5 to withstand the horizontal force. In this way, the four sensor assemblies 5 bear all the vertical weight of the top plate 3 and the cargo it carries, but do not need to bear the horizontal force, which is beneficial to reduce the weighing error. The four pressure sensor assemblies distributed at the four corners can not only weigh the total weight of the load, but also calculate the horizontal position of the center of gravity of the load.

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0024] like Figure 1 A handling robot with a weighing device 1 includes a handling robot mobile chassis and a weighing device 1. The weighing device 1 is installed on the mobile chassis and has a weighing function while carrying goods. The weighing device 1 includes a lower base plate 2, a top plate 3, and a plurality of pressure sensor assemblies 5.

[0025] like Figure 2, (a) front view, (b) top view, (c) top view of the transparent top plate of the weighing device 1. The four pressure sensor assemblies 5 are used to support the top plate 3 and bear the weight of the goods. The four force points can calculate the total weight of the goods and the center of gravity position in the horizontal direction. There are preferably two left and right guide shaft 401 assemblies, one end of each guide shaft 401 assembly is fixed to the lower base plate 2 with bolts, and the other end serves as a guide shaft 401 to cooperate with the guide hole 402 of the top plate 3. The top plate 3 can move up and down along the guide shaft 401, but the horizontal movement is restricted.

[0026] like Figure 3 , which is an exploded view of the components of the weighing device 1, more clearly shows the components of the entire weighing device 1.

[0027] like Figure 4 , which is a schematic diagram of the composition and installation of the pressure sensor assembly 5 of the weighing device 1. The pressure sensor assembly 5 is fixed to the lower base plate 2, and the pressure sensor assembly 5 supports the lower surface of the top plate 3 through the weighing screws 7. A wear-resistant sheet 6 is fixed to the contact portion of the lower surface of the top plate 3 with the pressure sensor assembly 5, and the wear-resistant sheet 6 is not easy to wear and can be replaced.

[0028] like Figure 5 , a schematic diagram of the composition and installation of the guide shaft 401 assembly of the weighing device 1. The guide assembly 4 includes the lower base plate 2 fastening bolts, a steel sleeve shaft, and an inner steel sleeve 404. The guide hole 402 of the top plate 3 is installed with an outer steel sleeve 403, and the outer steel sleeve 403 is fixed to the top plate 3 by screws. In this way, the force strength and wear resistance of the guide column and the top plate 3 are ensured, and they can be replaced even if they are worn. The top plate 3 can move freely up and down, so that factors such as slight deformation of the top plate 3 under force, processing errors, and installation errors will not generate additional forces, thereby affecting the force of the pressure sensor assembly 5. In actual engineering, a limit plate 405 is installed at the end of the steel sleeve shaft of the guide component 4. The outer diameter of the limit plate 405 is larger than the inner diameter of the outer steel sleeve 403. A gap 406 is left between the limit plate 405 and the outer steel sleeve 403 in the height direction. In this way, the normal operation of the weighing is not affected, and the top plate 3 will not separate from the pressure sensor component 5 and the lower base plate 2, while allowing the top plate 3 to slide up and down within a small range along the guide shaft 404.

[0029] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model is disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content disclosed above without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiments according to the technology of the utility model, which does not depart from the content of the technical solution of the utility model, belongs to the scope of the technical solution of the utility model.

Claims

1. A transport robot with a weighing device, comprising a transport robot mobile chassis and a weighing device (1) for carrying goods, characterized in that: The weighing device (1) comprises a lower base plate (2) and a top plate (3) installed above the lower base plate (2), and at least two guide assemblies (4) and at least one pressure sensor assembly (5) are arranged between the lower base plate (2) and the top plate (3); The guide assembly (4) comprises a guide shaft (401), the lower end of the guide shaft (401) is fixed to the lower base plate (2), and the top plate (3) is provided with a guide hole (402) that matches the upper end of the guide shaft (401); One end of the pressure sensor assembly (5) is fixed to the lower base plate (2), and the other end supports the lower surface of the top plate (3).

2. A handling robot with a weighing device according to claim 1, characterized in that: An outer steel sleeve (403) is installed in the guide hole (402), and an inner steel sleeve (404) matching with the outer steel sleeve (403) is assembled on the side of the upper end of the guide shaft (401).

3. A handling robot with a weighing device (1) according to claim 1, characterized in that: The guide assembly (4) is provided with a limit plate (405) at the end of the guide shaft (401), and a gap (406) is left between the limit plate (405) and the outer steel sleeve (403) in the height direction.

4. A handling robot with a weighing device (1) according to claim 1, characterized in that: Four pressure sensor assemblies (5) are provided, and the four pressure sensor assemblies (5) are distributed at four corner ends of the lower base plate (2) and the top plate (3).

5. A handling robot with a weighing device (1) according to claim 1, characterized in that: A wear-resistant sheet (6) is fixed to the portion of the lower surface of the top plate (3) that contacts the pressure sensor assembly (5).

6. A handling robot with a weighing device (1) according to claim 5, characterized in that: One end of the pressure sensor assembly (5) supporting the top plate (3) supports the wear-resistant sheet (6) fixed to the lower surface of the top plate (3) through a weighing screw (7).

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