Weight detection robot

Abstract

The utility model provides a weight detection robot which comprises a mechanical arm, an end effector and a processor module. The end effector comprises a clamp and a weight sensor module, and the clamp is connected with the tail end of the mechanical arm through the weight sensor module; the weight sensor module is electrically connected with the processor module; the clamp is used for grabbing or sucking a target object; the weight sensor module is used for collecting weight data of the target object when the clamp grabs or sucks the target object; the mechanical arm is used for controlling the end effector to move so as to enable the clamp to execute the grabbing or sucking action; and the processor module is used for acquiring the weight data of the target object and judging whether the target object is grabbed excessively or fallen according to the weight data. The weight sensor is arranged at the tail end of the mechanical arm, so that the weight of an object can be measured conveniently, and whether the target object is grabbed more or less can be judged.

Description

[0001] This application is a divisional application of Chinese Utility Model Patent Application No. 202322018671.8, entitled "Weight Detection Robot", filed on July 28, 2023. Technical Field

[0002] This utility model relates to industrial robots, specifically to a weight detection robot. Background Technology

[0003] An industrial robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and transport goods.

[0004] More and more visual sensors and force sensors will be used in industrial robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0005] When industrial robots sort and move goods, they need to acquire images of the goods through vision sensors, identify the posture of the goods by recognizing the images, and then the industrial robot picks or moves the goods by using the loaded grippers or fixtures. Utility Model Content

[0006] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a weight detection robot.

[0007] The weight detection robot provided by this utility model includes a robotic arm, an end effector, and a processor module.

[0008] The end effector includes a gripper and a weight sensor module. The gripper is connected to the end of the robotic arm via the weight sensor module. The weight sensor module is electrically connected to the processor module.

[0009] The clamp is used to grasp or pick up the target item;

[0010] The weight sensor module is used to collect the weight data of the target item when the clamp grabs or picks up the target item;

[0011] The robotic arm is used to control the movement of the end effector so that the gripper performs a grasping or sucking action;

[0012] The processor module is used to acquire the weight data of the target item and determine whether the target item has been over-grabbed or lost based on the weight data.

[0013] Preferably, the weight sensor module includes an upper connecting plate, a lower connecting plate, a first weight sensor, and a second weight sensor;

[0014] The lower connecting plate is connected to the clamp; the first weight sensor and the second weight sensor are respectively provided at both ends of the upper side of the lower connecting plate;

[0015] The upper side of one end of the first weight sensor is connected to the upper connecting plate, and the lower side of the other end is connected to the lower connecting plate; the upper side of one end of the second weight sensor is connected to the upper connecting plate, and the lower side of the other end is connected to the lower connecting plate.

[0016] The upper connecting plate is connected to the end flange of the robotic arm.

[0017] Preferably, the upper side of one end of the first weight sensor is connected to the upper connecting plate via a first gasket, and the lower side of the other end is connected to the lower connecting plate via a second gasket;

[0018] The upper side of one end of the second weight sensor is connected to the upper connecting plate via a third gasket, and the lower side of the other end is connected to the lower connecting plate via a fourth gasket.

[0019] Preferably, the fixture includes an adapter plate, an upper cover plate, a lower cover plate, and a vacuum generator;

[0020] A vacuum cavity is provided between the upper cover plate and the lower cover plate;

[0021] The lower side of the lower cover plate is provided with suction holes arranged in a matrix, and the suction holes are connected to the vacuum chamber;

[0022] The vacuum generator is disposed on the upper side of the upper cover plate, and the adapter plate is connected to the upper side of the upper cover plate and located in the central area of ​​the upper cover plate, so that the clamping structures on both sides of the adapter plate are symmetrical.

[0023] Preferably, the processor module is configured to acquire a preset weight of each target object and the number of target objects to be grasped each time, determine the actual number of target objects to be grasped based on the overall weight data and the weight of each target object, and compare the actual number of target objects to be grasped with the preset number of target objects to be grasped each time to determine whether to grasp the target objects more than once.

[0024] Preferably, the processor module is configured to acquire a preset weight of each target object and a number of target objects to be grasped each time, determine the actual number of target objects to be grasped based on the overall weight data and the weight of each target object, and compare the actual number of target objects to be grasped with the preset number of target objects to be grasped each time to determine whether a part is dropped during the movement of the target object.

[0025] Preferably, the upper cover plate and the lower cover plate are connected to form an integral structure.

[0026] Preferably, the upper connecting plate and the lower connecting plate are arranged in parallel.

[0027] Preferably, the long sides of the upper connecting plate and the lower connecting plate are perpendicular to or parallel to the long side of the clamp.

[0028] Preferably, the first weight sensor is located at one end of the upper connecting plate and the lower connecting plate, and the second weight sensor is located at the other end of the upper connecting plate and the lower connecting plate;

[0029] The first weight sensor and the second weight sensor are arranged in parallel.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] In the prior art, robots generally do not have weight sensors. Weight sensors are usually used for weighing on the conveyor line. However, in this invention, the weight sensor is installed on the end effector for weighing, which enables convenient acquisition of weight data.

[0032] In this invention, a weight sensor is installed on the end of the robotic arm, which not only facilitates the measurement of the object's weight, but also determines whether there is over-grabbing or under-grabbing of the target object. When a mixed carton is delivered and the weight is unknown, exceeding the robot's gripping weight range, an error can be reported, thus avoiding incorrect delivery of the target object. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1This is a schematic diagram of the weight detection robot in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the installation of the weight sensor module in an embodiment of this utility model.

[0036] In the picture:

[0037] 200 is the robotic arm; 201 is the clamp; 2011 is the adapter plate; 2012 is the upper cover plate; 2013 is the lower cover plate; 2014 is the vacuum generator; 202 is the weight sensor module; 2021 is the lower connecting plate; 2022 is the first weight sensor; 2023 is the upper connecting plate; 2024 is the first gasket. Detailed Implementation

[0038] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0039] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0041] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0042] Figure 1This is a structural schematic diagram of the weight detection robot in an embodiment of the present invention, as shown below. Figure 1 As shown, the weight detection robot provided by this utility model includes: a robotic arm 200, an end effector, and a processor module;

[0043] The end effector includes a gripper 201 and a weight sensor module 202. The gripper 201 is connected to the end of the robotic arm 200 through the weight sensor module 202. The weight sensor module 202 is electrically connected to the processor module.

[0044] The clamp 201 is used to grasp or pick up the target item;

[0045] The weight sensor module 202 is used to collect the weight data of the target item when the clamp 201 grips or picks up the target item;

[0046] The robotic arm 200 is used to control the movement of the end effector so that the gripper 201 performs a grasping or sucking action;

[0047] The processor module is used to acquire the weight data of the target item and determine whether the target item has been over-grabbed or lost based on the weight data.

[0048] In this embodiment of the invention, the weight detection robot provided by the present invention includes:

[0049] Unit 1 and Unit 2 are used for storing and / or transporting the target items;

[0050] A depth camera, whose visual scanning area at least covers the first unit for storing or transporting the target item, is used to visually scan the target item, acquire a depth image of the target item, and generate pose information of the target item based on the depth image.

[0051] The robot unit includes the robotic arm 200, which is communicatively connected to the depth camera. It is used to receive the pose information and, based on the pose information, grasp the target object in a corresponding grasping posture and then transfer it to the second unit.

[0052] In one embodiment of this utility model, the first unit can be configured as a storage unit and a feeding unit;

[0053] Storage unit, used to store target items;

[0054] The feeding unit is used to transport the storage unit;

[0055] The robot unit is communicatively connected to the depth camera and is used to receive the pose information, and to grasp the target object in a corresponding grasping posture according to the pose information and then transfer it to the second unit.

[0056] The second unit can be configured to transport or store the selected target items.

[0057] In one embodiment of the present invention, the clamp 201 includes an adapter plate 2011, an upper cover plate 2012, a lower cover plate 2013, and a vacuum generator 2014; the upper cover plate 2012 and the lower cover plate 2013 are connected to form an integral structure, and a vacuum cavity is provided between the upper cover plate 2012 and the lower cover plate 2013.

[0058] The lower cover plate 2013 has suction holes arranged in a matrix on its lower side surface, and the suction holes are connected to the vacuum chamber.

[0059] The vacuum generator 2014 is disposed on the upper side of the upper cover plate 2012. The adapter plate 2011 is connected to the upper side of the upper cover plate 2012 and is located in the central area of ​​the upper cover plate 2012, so that the clamps on both sides of the adapter plate 2011 are symmetrical in structure and balanced in weight.

[0060] The fixture 201 has dimensions of 1200×400mm. The target item can have dimensions of 600×400×400mm or 400×300×300mm. The target item weighs between 5 kg and 30 kg.

[0061] Figure 2 This is a schematic diagram of the installation of the weight sensor module in an embodiment of this utility model, as shown below. Figure 2 As shown, the weight sensor module 202 includes an upper connecting plate 2023, a lower connecting plate 2021, a first weight sensor 2022, and a second weight sensor.

[0062] The lower connecting plate 2021 is connected to the adapter plate 2011; the first weight sensor 2022 and the second weight sensor are respectively provided at both ends of the upper side of the lower connecting plate 2021.

[0063] The upper side of one end of the first weight sensor 2022 is connected to the upper connecting plate 2023, and the lower side of the other end is connected to the lower connecting plate 2021;

[0064] The upper side of one end of the second weight sensor is connected to the upper connecting plate 2023, and the lower side of the other end is connected to the lower connecting plate 2021.

[0065] The upper connecting plate 2023 is connected to the end flange of the robot unit.

[0066] In one embodiment of the present invention, the upper side of one end of the first weight sensor 2022 is connected to the upper connecting plate 2023 through a first gasket, and the lower side of the other end is connected to the lower connecting plate 2021 through a second gasket.

[0067] The upper side of one end of the second weight sensor is connected to the upper connecting plate 2023 via a third gasket, and the lower side of the other end is connected to the lower connecting plate 2021 via a fourth gasket.

[0068] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0069] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A weight detection robot, characterized in that, Includes a robotic arm, an end effector, and a processor module; The end effector includes a gripper and a weight sensor module. The gripper is connected to the end of the robotic arm via the weight sensor module. The weight sensor module is electrically connected to the processor module. The clamp is used to grasp or pick up the target item; The weight sensor module is used to collect the weight data of the target item when the clamp grabs or picks up the target item; The robotic arm is used to control the movement of the end effector so that the gripper performs a grasping or sucking action; The processor module is used to acquire the weight data of the target item and determine whether the target item has been over-grabbed or lost based on the weight data.

2. The weight detection robot according to claim 1, characterized in that, The weight sensor module includes an upper connecting plate, a lower connecting plate, a first weight sensor, and a second weight sensor. The lower connecting plate is connected to the clamp; the first weight sensor and the second weight sensor are respectively provided at both ends of the upper side of the lower connecting plate; The upper side of one end of the first weight sensor is connected to the upper connecting plate, and the lower side of the other end is connected to the lower connecting plate; the upper side of one end of the second weight sensor is connected to the upper connecting plate, and the lower side of the other end is connected to the lower connecting plate. The upper connecting plate is connected to the end flange of the robotic arm.

3. The weight detection robot according to claim 2, characterized in that, The upper side of one end of the first weight sensor is connected to the upper connecting plate via a first gasket, and the lower side of the other end is connected to the lower connecting plate via a second gasket. The upper side of one end of the second weight sensor is connected to the upper connecting plate via a third gasket, and the lower side of the other end is connected to the lower connecting plate via a fourth gasket.

4. The weight detection robot according to claim 1, characterized in that, The fixture includes an adapter plate, an upper cover plate, a lower cover plate, and a vacuum generator; A vacuum cavity is provided between the upper cover plate and the lower cover plate; The lower side of the lower cover plate is provided with suction holes arranged in a matrix, and the suction holes are connected to the vacuum chamber; The vacuum generator is disposed on the upper side of the upper cover plate, and the adapter plate is connected to the upper side of the upper cover plate and located in the central area of ​​the upper cover plate, so that the clamping structures on both sides of the adapter plate are symmetrical.

5. The weight detection robot according to claim 4, characterized in that, The upper cover plate and the lower cover plate are connected to form an integral structure.

6. The weight detection robot according to claim 2, characterized in that, The upper connecting plate and the lower connecting plate are arranged in parallel.

7. The weight detection robot according to claim 2, characterized in that, The long sides of the upper connecting plate and the lower connecting plate are perpendicular to or parallel to the long side of the clamp.

8. The weight detection robot according to claim 2, characterized in that, The first weight sensor is located at one end of the upper connecting plate and the lower connecting plate, and the second weight sensor is located at the other end of the upper connecting plate and the lower connecting plate; The first weight sensor and the second weight sensor are arranged in parallel.

9. The weight detection robot according to claim 1, characterized in that, The processor module is configured to acquire the preset weight of each target item and the number of target items grabbed each time, determine the actual number of target items grabbed based on the weight data of the target items and the weight of each target item, and compare the actual number of target items grabbed with the preset number of target items grabbed each time to determine whether to grab more target items.

10. The weight detection robot according to claim 1, characterized in that, The processor module is configured to acquire a preset weight of each target item and the number of target items grabbed each time, determine the actual number of target items grabbed based on the weight data of the target items and the weight of each target item, and compare the actual number of target items grabbed with the preset number of target items grabbed each time to determine whether a piece is dropped during the movement of the target items.

Images