Robotic arm-based weighing and loading device

Abstract

This invention provides a weighing and filling device based on a robotic arm, including a weighing platform and a filling robotic arm. The end of the robotic arm is suspended above the weighing platform for filling a pre-set weight of material into a packaging box. The weighing platform includes a mounting frame, a weighing platform body, a rear-push cylinder, and a force sensor. The force sensor is installed at the bottom of the weighing platform body to read the weight information of the packaging box. The weighing platform body is mounted on the mounting frame and has a packaging box placement position. The rear-push cylinder is mounted on the mounting frame and is located on one side of the packaging box placement position. In this invention, the weighing sensor is used to read the weight of the packaging box in real time. The robotic arm fills the material according to the weight data, and the push cylinder pushes the filled packaging box to the downstream station. By integrating the weighing, filling, and pushing mechanisms into one station, the entire process of weighing, filling, and pushing can be continuously operated in one station, significantly improving work efficiency and accuracy.

Description

Technical Field

[0001] This utility model relates to the field of food processing equipment technology, specifically to a weighing and loading device based on a robotic arm. Background Technology

[0002] In the food and other packaging industries, the traditional manual weighing and filling mode has long suffered from inefficiency and inaccuracy. Operators need to move the packaging boxes one by one to the weighing instrument, record the readings, and then manually adjust the filling amount. Due to the slow pace of manual operation, the production line cycle time will be forced to decrease, and manual operation will lead to accuracy errors, making it impossible to accurately adjust the filling action based on the weight reading.

[0003] To address this, existing automation improvement solutions introduce conveyor lines with integrated weighing platforms. However, weighing and filling remain separate processes, requiring two workstations to be used sequentially. While this structure can easily replace manual handling, it still fails to achieve coordination between weighing and filling.

[0004] Patent document CN209739473U discloses a weighing device for packaging machines, including a feeding hopper, a weighing box, a controller, and a weighing container. This utility model can automatically complete the weighing, packaging, and defective product sorting of materials, improving production efficiency. The weighing box can accurately weigh the materials to be packaged. However, this weighing device cannot integrate multiple mechanisms into one workstation, and its multi-mechanism coordination needs improvement. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a weighing and loading device based on a robotic arm.

[0006] The weighing and loading device based on a robotic arm provided by this utility model includes a weighing platform and a loading robotic arm. The loading robotic arm is installed on the side of the weighing platform, and the end of the robotic arm is suspended above the weighing platform.

[0007] The weighing platform includes a mounting frame, a weighing platform body, a rear pusher cylinder, and a force sensor. The force sensor is installed at the bottom of the weighing platform body and is used to read the weight information of the packaging box.

[0008] The weighing platform body is mounted on the mounting frame, and the weighing platform body is provided with a packaging box placement position for placing packaging boxes. The loading robotic arm is used to load a preset weight of material into the packaging box.

[0009] The rear pusher cylinder is mounted on the mounting frame and located on one side of the packaging box placement position, and is used to push the filled packaging box from the packaging box placement position to the downstream work station.

[0010] Preferably, the force sensor is fixedly mounted on the side of the mounting frame via a force sensor mounting base, and the weighing platform body is mounted on the force sensor.

[0011] Preferably, the first side of the packaging box placement position is the entrance side of the packaging box, and the packaging box enters the packaging box placement position from the first side of the packaging box placement position under the drive of the upstream conveyor line;

[0012] The second side of the packaging box placement position is the outlet side of the packaging box. The packaging box is pushed off the weighing platform body from the second side of the packaging box placement position by the rear pusher cylinder (3).

[0013] Preferably, the first side and the second side of the packaging box placement position are perpendicular to each other.

[0014] Preferably, a baffle is installed on the side of the packaging box placement position opposite to the entrance side of the packaging box.

[0015] Preferably, the mounting frame is equipped with an air pipe protection box, and the air pipe of the rear pusher cylinder is set inside the air pipe protection box and connected to an external air source through the interface on the air pipe protection box.

[0016] Preferably, a protective shell for the rear pusher cylinder is installed on the outside of the rear pusher cylinder.

[0017] Preferably, it also includes a communication module, which is mounted on the mounting frame and connected to the signal output terminals of the control unit and the force sensor of the loading robot arm.

[0018] Preferably, it also includes a solenoid valve control module, which is mounted on the mounting bracket and connected to the rear pusher cylinder.

[0019] Preferably, it also includes a loading buffer platform, which is arranged circumferentially outside the weighing platform body and is used to temporarily store the material grasped by the loading robotic arm.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] This utility model utilizes a coordinated layout of a weighing sensor, a robotic arm, and a push-out cylinder. The weighing sensor is used to read the weight of the packaging box in real time, the robotic arm fills the material according to the weight data, and the push-out cylinder pushes the filled packaging box to the downstream station. By integrating the weighing, filling, and pushing mechanisms into one station, the entire process of weighing, filling, and pushing can be continuously operated in one station, significantly improving work efficiency and accuracy. Attached Figure Description

[0022] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a structural schematic diagram of the front view angle of this utility model;

[0025] Figure 3 This is a schematic diagram illustrating the principle of pushing the packaging box into the weighing platform in this utility model.

[0026] Figure 4 This is a schematic diagram illustrating the working principle of the rear pusher cylinder in this utility model.

[0027] Figure 5 This is a schematic diagram of the internal structure of the present invention;

[0028] Figure 6 This is a schematic diagram illustrating the working principle of the lower pusher cylinder in this utility model.

[0029] The diagram shows:

[0030] Packaging box 1; Rear pusher cylinder protective shell 6

[0031] 2 rear pusher cylinders, 7 weighing platform body

[0032] Lower pusher cylinder 3, hollow structure 71

[0033] Lifting plate 31, force sensor 8

[0034] Solenoid valve control module 4 Force sensor mounting base 9

[0035] Communication module 5, trachea protection box 10 Detailed Implementation

[0036] 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 changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0037] This utility model discloses a weighing and filling device based on a robotic arm. It adopts a coordinated layout of a weighing sensor, a robotic arm, and a push-out cylinder. The weighing sensor is used to read the weight of the packaging box in real time. The robotic arm fills the material according to the weight data. The push-out cylinder pushes the filled packaging box to the downstream station. By integrating the weighing, filling, and pushing mechanisms into one station, the entire process of weighing, filling, and pushing can be continuously operated in one station, which significantly improves work efficiency and accuracy.

[0038] According to the robotic arm-based weighing and loading device provided by this utility model, such as Figure 1 , Figure 2 As shown, it includes a weighing platform and a loading robotic arm. The loading robotic arm is installed on the side of the weighing platform, and the end of the robotic arm is suspended above the weighing platform. The weighing platform includes a mounting frame, a weighing platform body 7, a rear pushing cylinder 2, and a force sensor 8. The force sensor 8 is installed at the bottom of the weighing platform body 7 and is used to read the weight information of the packaging box 1.

[0039] The weighing platform body 7 is mounted on the mounting frame. The weighing platform body 7 has a packaging box placement position for placing packaging boxes 1. The loading robotic arm is used to load a preset weight of material into the packaging boxes 1. The rear pushing cylinder 2 is mounted on the mounting frame and located on one side of the packaging box placement position, used to push the filled packaging boxes 1 from the packaging box placement position to the downstream workstation. Figure 4 As shown, the rear pusher cylinder 2 is activated after the robotic arm completes its loading action, pushing the packaging box 1 to the downstream conveyor line.

[0040] In a preferred example, such as Figure 3 , Figure 4 As shown, the first side of the packaging box placement position is the entrance side of packaging box 1. Packaging box 1 enters the packaging box placement position from the first side under the drive of the upstream conveyor line. The second side of the packaging box placement position is the exit side of packaging box 1. Packaging box 1 detaches from the weighing platform body 7 from the second side of the packaging box placement position under the push of the rear pusher cylinder 3. The first and second sides of the packaging box placement position are perpendicular to each other. Furthermore, a baffle is installed on the side of the packaging box placement position opposite to the entrance side of packaging box 1.

[0041] In a preferred embodiment, the force sensor 8 is fixedly mounted on the side of the mounting frame via a force sensor mounting base 9, and the weighing platform body 7 is mounted on the force sensor 8. The force sensor 8 is used to detect the weight changes of the packaging box 1 and the food inside in real time. The force sensor mounting base 9 provides a stable mounting foundation for the force sensor 8 and ensures that its force direction is consistent, thereby improving measurement accuracy.

[0042] In a preferred embodiment, an air pipe protection box 10 is mounted on the mounting frame. The air pipe of the rear pusher cylinder 2 is housed within the air pipe protection box 10 and connected to an external air source via an interface on the air pipe protection box 10. A rear pusher cylinder protective shell 6 is installed on the outside of the rear pusher cylinder 2. By setting up structures such as the air pipe protection box 10 and the rear pusher cylinder protective shell 6, the dustproof and oil-proof capabilities of the system are improved, enhancing the stability and service life of the equipment.

[0043] In a preferred embodiment, the loading device further includes a communication module 5, which is mounted on a mounting frame and connected to the signal output terminals of the control unit of the loading robotic arm and the force sensor 8, respectively. The communication module 5 is used to exchange data with external devices (such as a PLC or robotic arm controller) to achieve remote monitoring and coordinated actions.

[0044] In a preferred embodiment, the filling device further includes a filling buffer platform, which is circumferentially disposed outside the weighing platform body 7 for temporarily storing the material grasped by the filling robotic arm.

[0045] In a preferred embodiment, to address the technical problem that vibrations generated by the movement of the filling equipment during the filling process can superimpose on the weight signal, causing significant fluctuations in the measured value and failing to provide accurate and stable real-time data for filling control, a downward pushing cylinder 2 is also provided, such as... Figure 5 As shown, the lower pusher cylinder 3 is mounted on the mounting frame, and the weighing platform body 7 is provided with a hollow structure 71 for accommodating and limiting the packaging box 1. The piston rod of the lower pusher cylinder 3 is equipped with a lifting support plate 31 corresponding to the hollow structure 71.

[0046] When the weighing platform is in the weighing preparation state, such as Figure 2 As shown, the packaging box 1 is conveyed from the conveyor line to the weighing platform body 7. At this time, the lifting plate 31 is embedded in the hollow structure 71, and the packaging box 1 is placed on the lifting plate 31 without contacting the weighing platform body 7. When the weighing platform is in a suspended weighing state, as shown... Figure 6 As shown, when the lower pusher cylinder 3 is activated, the lifting plate 31 descends until it is separated from the bottom of the packaging box 1. The packaging box 1 is fixedly engaged in the hollow structure 71 and restricted to the weighing platform body 7, so that it is separated from the conveyor line and suspended in the air, which facilitates accurate weighing.

[0047] In a preferred embodiment, the cylinder of the lowering cylinder 3 is fixedly mounted on the side of the mounting frame, and the piston rod of the lowering cylinder 3 is arranged vertically to drive the lifting support plate 31 to rise and fall vertically. This is responsible for lowering the center of gravity of the packaging box 1, causing it to detach from the conveyor line and suspend itself on the weighing platform body 7, thereby achieving accurate weighing.

[0048] In a preferred embodiment, the outline of the lifting support plate 31 corresponds to the hollow structure 71. In the weighing preparation state, a gap is provided between the outer edge of the lifting support plate 31 and the inner edge of the hollow structure 71, and the upper surface of the lifting support plate 31 is on the same plane as the upper surface of the weighing platform body 7. The outline of the hollow structure 71 corresponds to the outline of the packaging box 1, and the area of ​​the hollow structure 71 is larger than the area of ​​the bottom surface of the packaging box 1. The sidewall of the packaging box 1 is an inclined mechanism, causing the cross-sectional area of ​​the packaging box 1 to gradually increase from the bottom to the top. In the suspended weighing state, the sidewall of the packaging box 1 overlaps with the inner edge of the hollow structure 71, causing the packaging box 1 to be locked and fixed in the hollow structure 71.

[0049] In a preferred embodiment, the filling device further includes a solenoid valve control module 4, which is mounted on a mounting frame and connected to the rear pusher cylinder 2 and the lower pusher cylinder 3. The solenoid valve control module 4 is used to control the timing and logic of the pneumatic components in the system, thereby achieving automated operation.

[0050] The working principle of this utility model is as follows:

[0051] Packaging box loading: Food packaging box 1 is pushed by the conveyor line to the weighing platform body 7, and the packaging box 1 is stably placed through the hollow structure 71 on the top of the weighing platform body 7.

[0052] Suspended weighing preparation: The pusher cylinder 3 is activated to restrain the packaging box 1 on the weighing platform body 7, so that it is detached from the conveyor line and suspended in the air, which is convenient for subsequent accurate weighing.

[0053] Weighing process: Force sensor 8 monitors the weight of the food inside packaging box 1 in real time via the weighing platform body 7. The loading robotic arm gradually places the food into packaging box 1 based on the current weight information. When approaching the target weight, the robotic arm temporarily stores the food on the weighing platform's buffer platform, i.e., the area surrounding the weighing platform, and continues to select food combinations of suitable weights.

[0054] Final boxing and unloading: After confirming that the total weight meets the standard, the robotic arm places the food from the buffer platform into packaging box 1. Then, the pusher cylinder 2 is activated, pushing the weighed and filled packaging box 1 out of the weighing platform and into the next production line.

[0055] Control and Communication: The entire process is controlled by the solenoid valve control module 4, which controls the pneumatic actuator cylinder. The communication module 5 transmits weight data and status information to the host computer or robotic arm controller, achieving closed-loop control.

[0056] The above embodiments solve the problems of low efficiency and large error in traditional manual weighing: by linking force sensors with robotic arms, automatic weighing and loading are realized, improving efficiency and accuracy.

[0057] The above embodiments solve the problem of unstable packaging boxes affecting measurement accuracy during the weighing process: by using a pusher cylinder to detach the packaging box from the conveyor line and suspend it in the air, it is ensured that only the weight of the food and the box is measured during the weighing process, thus reducing interference.

[0058] The above embodiments solve the problem of difficulty in coordinating the robotic arm and the weighing device: the communication module enables linkage control with the robotic arm, allowing the robotic arm to accurately dispense food based on real-time weight feedback.

[0059] The above embodiments solve the problem of poor environmental adaptability of the equipment: by setting up structures such as air pipe protection boxes and cylinder protection shells, the dustproof and oil-proof capabilities of the system are improved, and the stability and service life of the equipment are enhanced.

[0060] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0061] 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 changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A weighing and loading device based on a robotic arm, characterized in that, It includes a weighing platform and a loading robotic arm, wherein the loading robotic arm is installed on the side of the weighing platform and the end of the robotic arm is suspended above the weighing platform. The weighing platform includes a mounting frame, a weighing platform body (7), a rear pusher cylinder (2), and a force sensor (8). The force sensor (8) is installed at the bottom of the weighing platform body (7) and is used to read the weight information of the packaging box (1). The weighing platform body (7) is mounted on the mounting frame. The weighing platform body (7) is provided with a packaging box placement position for placing a packaging box (1). The loading robot arm is used to load a preset weight of material into the packaging box (1). The rear pusher cylinder (2) is mounted on the mounting frame and located on one side of the packaging box placement position, and is used to push the filled packaging box (1) from the packaging box placement position to the downstream station.

2. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, The force sensor (8) is fixedly mounted on the side of the mounting frame via the force sensor mounting base (9), and the weighing platform body (7) is mounted on the force sensor (8).

3. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, The first side of the packaging box placement position is the entrance side of the packaging box (1). The packaging box (1) enters the packaging box placement position from the first side of the packaging box placement position under the drive of the upstream conveyor line. The second side of the packaging box placement position is the outlet side of the packaging box (1). The packaging box (1) is pushed off the weighing platform body (7) from the second side of the packaging box placement position by the rear pusher cylinder (2).

4. The weighing and loading device based on a robotic arm according to claim 3, characterized in that, The first and second sides of the packaging box placement position are perpendicular to each other.

5. The weighing and loading device based on a robotic arm according to claim 3, characterized in that, In the packaging box placement position, a baffle is installed on the side opposite to the entrance side of the packaging box (1).

6. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, The mounting frame is equipped with an air pipe protection box (10), and the air pipe of the rear pusher cylinder (2) is set inside the air pipe protection box (10) and connected to an external air source through the interface on the air pipe protection box (10).

7. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, The rear pusher cylinder (2) is equipped with a rear pusher cylinder protective shell (6).

8. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, It also includes a communication module (5), which is mounted on the mounting frame and connected to the signal output terminals of the control unit of the loading robot and the force sensor (8).

9. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, It also includes a solenoid valve control module (4), which is mounted on the mounting bracket and connected to the rear pusher cylinder (2).

10. The weighing and loading device based on a robotic arm according to claim 1, characterized in that, It also includes a loading buffer platform, which is arranged circumferentially outside the weighing platform body (7) for temporarily storing the material grabbed by the loading robot arm.

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