Weighing Sensor Assemblies, Pick-up Tools, Manipulators and Robots

Abstract

A metric sensor assembly (20), a pick-up tool, a manipulator and a robot. The metric sensor assembly (20) includes a first hollow pipe (22) and at least two metric sensors (21) that are spaced apart and evenly arranged around the outside of the first hollow pipe (22), and the at least two metric sensors (21) are connected to the first hollow pipe (22). In the metric sensor assembly according to the present disclosure, the first hollow pipe is arranged at a middle portion to allow air communication at the middle portion, so that the metric sensor assembly can be arranged at any position without affecting the arrangement of the vacuum air path, thereby improving the flexibility of arrangement.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure is based on and claims priority from Chinese Application No. 202210438409.6, filed on April 25, 2022, which is hereby incorporated by reference in its entirety into this disclosure.

[0002] The present disclosure relates to a metrology sensor assembly, a pick-up tool, a manipulator and a robot. [Background technology]

[0003] The pick-up tool is an important part of the manipulator, which uses a gripper to grip an article and transport the article from a certain position to a specified position. Different scenes require different types and weights of articles gripped by the pick-up tool, and in some cases the weight of the article needs to be measured. In the prior art, the weight of the gripped article is mainly measured by a weighing sensor attached to the pick-up tool. For example, in the pick-up process of the pick-up tool, the number of articles gripped by the pick-up tool can be obtained through the standard weight of a single article and the measured total weight of the gripped articles.

[0004] The types of grippers of existing pick-up tools mainly include mechanical claws and aspirators. In the aspirator-type pick-up tool, it is necessary to arrange the vacuum air path and the weighing sensor, and how to properly arrange the vacuum air path and the weighing sensor is a problem that needs to be solved.

[0005] It should be noted here that the statements in the background section are merely intended to provide background art relevant to the present disclosure and do not necessarily constitute prior art. Summary of the Invention [Problem to be solved by the invention]

[0006] The present disclosure provides a metrology sensor assembly, pick-up tool, manipulator and robot that provides increased flexibility in the location of the metrology sensor on the pick-up tool. [Means for solving the problem]

[0007] In a first aspect, the present disclosure provides a metric sensor assembly including a first hollow pipe and at least two metric sensors evenly spaced apart and circumferentially disposed on an exterior of the first hollow pipe, the at least two metric sensors being connected to the first hollow pipe.

[0008] In some embodiments, the metric sensor assembly further includes a connection base disposed on at least one of the axial ends of the first hollow pipe, the connection base connecting the at least two metric sensors and the first hollow pipe.

[0009] In some embodiments, the weighing sensor assembly includes a first connection base and a second connection base respectively disposed at axial ends of a first hollow pipe, the first connection base having a first through hole and the second connection base having a second through hole, and the first hollow pipe being airtightly connected to the first through hole and the second through hole.

[0010] In some embodiments, the first hollow pipe is integrally formed with the first connection base.

[0011] In some embodiments, the second connection base includes a connection base body and an intermediate connection pipe disposed on the connection base body, and an inner cavity of the intermediate connection pipe forms the second through hole.

[0012] In some embodiments, the end of the intermediate connecting pipe remote from the first hollow pipe extends axially beyond the surface of the connecting base body.

[0013] In some embodiments, the first hollow pipe is connected to the intermediate connecting pipe through a sealing ring.

[0014] In a second aspect, the present disclosure provides a pickup tool including an aspirator, a second hollow pipe and said weighing sensor assembly, wherein the aspirator includes an aspirator body for aspirating an article and a suction tube arranged at an upper end of the aspirator body, the second hollow pipe is configured to be connected to a vacuum generator to provide negative pressure to the aspirator, the weighing sensor assembly is arranged between the suction tube and the second hollow pipe, the lower ends of the weighing sensors are connected to the suction tube and the upper ends of each weighing sensor are connected to the second hollow pipe, and the suction tube, the first hollow pipe and the second hollow pipe are in air communication in sequence.

[0015] In some embodiments, the first hollow pipe is arranged coaxially with the second hollow pipe, and the inner diameter of the first hollow pipe is smaller than the inner diameter of the second hollow pipe.

[0016] In some embodiments, the metering sensor assembly is disposed adjacent to the aspirator.

[0017] In a third aspect, the present disclosure provides a manipulator including the pick-up tool.

[0018] In a fourth aspect, the present disclosure provides a robot including the manipulator described above.

[0019] According to various aspects of the present disclosure, a metric sensor assembly includes a first hollow pipe and at least two metric sensors evenly spaced apart on the outside of the first hollow pipe in a circumferential direction, the at least two metric sensors being connected to the first hollow pipe. In the metric sensor assembly according to the present disclosure, the first hollow pipe is centrally located to allow for central air communication, so that the metric sensor assembly can be located at any position without affecting the placement of the vacuum air path, thereby improving placement flexibility.

[0020] Further features and advantages of the present disclosure will become more apparent from the following detailed description of exemplary embodiments of the present disclosure, taken in conjunction with the accompanying drawings.

[0021] The accompanying drawings are intended to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof are intended to interpret the present disclosure and do not constitute undue limitations to the present disclosure. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic structural diagram of a pick-up tool according to a related art; [Diagram 2] FIG. 2 is a schematic diagram of the air path of the pick-up tool shown in FIG. 1. [Diagram 3] FIG. 2 is a schematic structural diagram of the pick-up tool shown in FIG. 1 when subjected to a lateral force. [Figure 4] FIG. 1 is a schematic diagram of the structure and air paths of a tool with a weighing sensor located underneath. [Diagram 5] FIG. 2 is a schematic structural diagram of a pick-up tool according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a schematic diagram of a three-dimensional structure of the weighing sensor assembly in FIG. 5. [Figure 7] FIG. 7 is a schematic diagram of the internal structure of the weighing sensor assembly shown in FIG. 6. [Figure 8] FIG. 13 is a schematic diagram of an air path for a pickup tool assembly according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] With reference to the figures of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below clearly and completely. Obviously, the embodiments described below are only some of the embodiments, not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and should not be construed as a restriction on the present disclosure and its application or use in any way. All other embodiments that a person skilled in the art can obtain based on the embodiments of the present disclosure without creative efforts are included in the protection scope of the present disclosure.

[0024] Unless otherwise specified, the arrangement of elements and steps relative to each other, numerical expressions and values ​​referred to in these embodiments do not limit the scope of the present disclosure. It should also be understood that for ease of illustration, the dimensions of elements shown in the drawings are not given according to actual scale relationships. Detailed discussion may not be given for techniques, processes and devices already known by those skilled in the art in the relevant art, but such techniques, processes and devices should be considered as part of the description, if appropriate. Any specific values ​​in any example shown or discussed herein should be interpreted as illustrative only, not limiting. Thus, other examples of exemplary embodiments may have different values. It should be noted that similar reference numbers in the following figures indicate similar elements, so that once an element is defined in one figure, there is no need to further discuss it in subsequent figures.

[0025] For convenience of description, spatially relative terms such as "on," "above," "on top of," "adjacent," and the like may be used herein to describe the spatial relationship between a device or feature as depicted in the figures and other devices or features. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in a figure were inverted, a device described as being "above" or "on" another device or structure would then be positioned "below" or "below" the other device or structure. Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." Devices can be positioned in other different ways, and the spatially relative descriptions used herein will be explained accordingly.

[0026] The pick-up tool is a gripping device, which is usually connected to the end of a manipulator and configured to grip an item. In the field of logistics, the manipulator is often used to pick up goods through the pick-up tool to realize the selection of the goods.

[0027] As shown in FIG. 1, a pick-up tool for picking up an article by vacuum suction includes an aspirator 10a, a hollow pipe 30a and an air tube 40a. The air tube 40a is connected to a vacuum generator. When picking up an article, the aspirator 10a directly contacts the article to pick up the article. As shown in FIG. 1, the pick-up tool further includes a weighing sensor 20a arranged at the end of the manipulator so that the weight of the picked article can be measured and obtained. As shown in FIG. 2, when picking up an article, the vacuum generator sucks in, causing an air flow in the direction of the arrow as shown in FIG. 2, generating a negative air pressure in the aspirator 10a, so that the article can be sucked tightly, and then the article can start to be transported.

[0028] In the course of research, the inventor found that in the actual picking process, the pick-up tool may receive various forces in different directions due to different postures of the picked item, for example, in the state shown in Fig. 3, the pick-up tool receives a lateral force F, and the weighing sensor 20a at the top receives the lateral force F, which generates a torsional force inside. However, since the optimal direction of the force received by the weighing sensor 20a is the vertical downward direction, the weighing sensor 20a is easily damaged under the action of the torsional force.

[0029] Additionally, to ensure weight measurement accuracy when the grasped object is light, a sensor with a small range is typically selected; however, while this sensor ensures accuracy, it also has a weak point and is more likely to be damaged when subjected to torsional forces as described above.

[0030] The present inventor further considered the above problem and found that since the suction device 10a of the pick-up tool is configured to suck an article, the suction device 10a is a part that directly contacts the article and is also a point on which the lateral force F acts. In this case, in the pick-up tool shown in Fig. 3, the weighing sensor 20a is disposed at an end remote from the suction device 10a, which may cause the weighing sensor 20a to receive a larger torsional moment force. In this case, if it is desired to reduce the torsional moment force of the weighing sensor 20a and reduce damage to the weighing sensor, the force arm can be shortened by moving the weighing sensor downward and disposing it adjacent to the suction device.

[0031] Based on the above consideration, as shown in FIG. 4, in this pick-up tool, the metering sensor 20b is disposed adjacent to the aspirator 10b. Here, the air port of the aspirator 10b can communicate with the hollow pipe 30b at the upper end of the metering sensor 20b through the adapter air tube 60b, and the hollow pipe 30b communicates with the air tube 40b, so that the air path flows in the direction of the aspirator 10b, the connector tube 60b, the hollow tube 30b and the air tube 40b, and then the vacuum generator to generate a vacuum. As shown in FIG. 4, both ends of the connector tube 60b are respectively connected to the upper end and the lower end of the metering sensor 20b, so that the elasticity and state of the connector tube 60b will affect the accuracy of the metering sensor 20b. In the embodiment shown in FIG. 4, the metering sensor 20b is provided with the connector tube 60b on one side, and the connector tube 60b will generate a small force on that side of the metering sensor 20b. If the connector tube 60b is provided shorter, a larger force will be applied to the side of the metering sensor 20b. However, if the connector tube 60b is provided long, it will occupy too much space and the interference space will increase.

[0032] In view of the above problem, the inventor of the present disclosure has further studied and proposed that at least two weighing sensors can be arranged in combination and a hollow pipe for air communication can be arranged between them, so that the communication of the air path is not affected by the weighing sensor arranged below. Next, structures of the weighing sensor assembly and the pick-up tool including the weighing sensor assembly according to some embodiments of the present disclosure will be described in detail with reference to Figs. 5 to 8.

[0033] 5, the pick-up tool of the embodiment of the present disclosure includes an aspirator 10, a second hollow pipe 30, and a metering sensor assembly 20. Here, the aspirator 10 includes an aspirator body 11 for aspirating an article, and a suction tube 12 disposed at the upper end of the aspirator body 11. The second hollow pipe 30 is configured to be connected to a vacuum generator to provide a negative pressure to the aspirator 10. The metering sensor assembly 20 is disposed between the suction tube 12 and the second hollow pipe 30.

[0034] 6 and 7, the weighing sensor assembly 20 includes a first hollow pipe 22 and at least two weighing sensors 21 that are evenly spaced apart from each other in the circumferential direction on the outside of the first hollow pipe 22. The at least two weighing sensors 21 are connected to the first hollow pipe 22. The lower end of the weighing sensor 21 is connected to the suction tube 12, and the upper end of the weighing sensor 21 is connected to the second hollow pipe 30, so that the suction tube 12, the first hollow pipe 22 and the second hollow pipe 30 are in air communication with each other.

[0035] In the weighing sensor assembly 20 according to an embodiment of the present disclosure, at least two weighing sensors 21 are evenly distributed on the outside, so that the central part of the weighing sensor assembly 20 can form a space with air communication with the suction tube 12 and the second hollow pipe 30 at the upper and lower ends, and the first hollow pipe 22 can be air-communicated with the suction tube 12 and the second hollow pipe 30 to provide negative pressure in the aspirator body 11. Furthermore, the lower end of the weighing sensor 21 is connected with the suction tube 12, and the upper end of the weighing sensor 21 is connected with the second hollow pipe 30, so that the weight of the article sucked by the aspirator 10 can be transmitted to the weighing sensor 21 through the suction pipe 11, thus enabling the weighing function of the weighing sensor 21. As can be seen from above, in the pick-up tool according to an embodiment of the present disclosure, the weighing sensor assembly 20 with the central part for air communication is provided, and the weighing sensor assembly can be placed at any position without affecting the placement of the vacuum air path, which improves the placement flexibility.

[0036] To reduce the torsional moment force on the weigh sensor and reduce damage to the weigh sensor, in some embodiments, the weigh sensor assembly 20 is positioned adjacent to the aspirator 10. Since the aspirator 10 is the part that directly contacts the article and is also the point at which the force acts, by positioning the weigh sensor assembly 20 adjacent to the aspirator 10, the length of the force arm can be reduced, further reducing the magnitude of the torsional moment on the weigh sensor and further reducing damage to the weigh sensor.

[0037] Furthermore, compared to the pickup tool of the embodiment shown in FIG. 4, the sum of the ranges of the at least two weighing sensors 21 in the embodiment of the present disclosure is the same as the range of the weighing sensor 20b in FIG. 4, and the range of each weighing sensor 21 is relatively small, thereby ensuring the accuracy of weight measurement.

[0038] In the embodiment shown in Figures 5 to 7, the metric sensor assembly 20 includes two metric sensors 21 arranged opposite to each other. The two metric sensors 21 are symmetrically arranged on both sides of the first hollow pipe 22, respectively. In other embodiments not shown in the figures, the metric sensor assembly 20 can also include more than three metric sensors 21 evenly distributed about the central axis of the first hollow pipe 22. As long as more than two metric sensors 21 are evenly distributed in the circumferential direction of the first hollow pipe 22, the first hollow pipe 22 can form a passage for air communication from the inhalator 10 to the second hollow pipe 30.

[0039] From the above analysis, on the one hand, both ends of each of the at least two weighing sensors 21 are connected with the suction tube 12 and the second hollow pipe 30, respectively, so that the force applied to the aspirator 10 can be transmitted to the weighing sensors 21 through the suction tube 12 to enable their metering function. On the other hand, the first hollow pipe 22 is in air communication with the suction tube 12 and the second hollow pipe 30, allowing air flow to generate a vacuum.

[0040] As shown in FIG. 8, the first hollow pipe 22, the suction tube 12 and the second hollow pipe 30 are airtightly connected in the air path to ensure airtightness of the air communication.

[0041] In particular, in some embodiments, the suction tube 12, the first hollow pipe 22 and the second hollow pipe 30 are all arranged coaxially.

[0042] In some embodiments, the metric sensor assembly 20 further includes a connection base disposed at least at one of the axial ends of the first hollow pipe 22. The connection base connects the at least two metric sensors to the first hollow pipe 22. With reference to Figs. 6 and 7, for example, the metric sensor assembly 20 may include a first connection base 23 disposed at the axial lower end of the first hollow pipe 22. The lower ends of the at least two metric sensors 21 and the lower end of the first hollow pipe 22 are all connected to the first connection base 23, so that the first connection base 23 is connected to the suction tube 12 of the aspirator 10, the upper end of the metric sensor 21 is connected to the second hollow pipe 30, and the first hollow pipe 22 is connected to the second hollow pipe 30 in an airtight state. Further, for example, the metric sensor assembly 20 may also include a second connection base 24 disposed at the axial upper end of the first hollow pipe 22. The upper ends of the at least two weighing sensors 21 and the upper end of the first hollow pipe 22 are all connected to the second connection base 24 .

[0043] 6 and 7, in some embodiments, the metric sensor assembly 20 includes a first connection base 23 for connecting the metric sensor with the suction tube 12 and a second connection base 24 for connecting the metric sensor 21 with the second hollow pipe 30. The first connection base 23 has a first through hole in fluid communication with the suction tube 12. The second connection base 24 has a second through hole in fluid communication with the second hollow pipe 30. The first hollow pipe 22 is airtightly connected to the first through hole and the second through hole.

[0044] The first connection base 23 and the second connection base 24 are arranged separately so that the gravity of the article sucked by the suction device 10 can be transmitted to the weighing sensor 21 through the first connection base 23.

[0045] A space in which the weighing sensor 21 and the first hollow pipe 22 are disposed is formed between the first connection base 23 and the second connection base 24. In particular, the lower end of each weighing sensor 21 is connected to the first connection base 23, and the suction tube 12 is connected to the first connection base 23, so that the gravity of the article sucked by the suction device 10 can be transmitted to the weighing sensor 21 through the first connection base 23. The upper end of each weighing sensor 21 is connected to the second connection base 24, and the second connection base 24 is connected to the second hollow pipe 30.

[0046] As shown in FIG. 8, when the weighing sensor assembly 20 is connected with the suction tube 12 and the second hollow pipe 30, the first connection base 23 and the second connection base 24 are structures for realizing a direct connection between the suction tube 12 and the second hollow pipe 30. In particular, the tubular wall of the suction tube 12 is connected with the first connection base 23, such that the lumen of the suction tube 12 can communicate with the first through-hole on the first connection base 23. Similarly, the tubular wall of the second hollow pipe 30 is connected with the second connection base 24, such that the lumen of the second hollow pipe 30 can communicate with the second through-hole on the second connection base 24. The first hollow pipe 22 disposed between the first connection base 23 and the second connection base 24 is connected with the first through-hole and the second through-hole in an airtight manner, thereby realizing a sealed communication of air from the suction tube 12 to the second hollow pipe 30.

[0047] In some embodiments, as shown in Fig. 7, the first hollow pipe 22 is integrally formed with the first connection base 23. Therefore, when the first connection base 23 is connected with the suction tube 12, the suction tube 12 can directly communicate with the first hollow pipe 22, and the integral formation can better ensure the airtightness of the air communication.

[0048] 7, in some embodiments, the second connection base 24 includes a connection base body 241 and an intermediate connection pipe 242 disposed on the connection base body 241. The inner cavity of the intermediate connection pipe 242 forms a second through hole.

[0049] In particular, the end of the intermediate connecting pipe 242 that is farther from the first hollow pipe in the axial direction extends beyond the surface of the connection base body 241, and the intermediate connecting pipe 242 is airtightly connected to the first hollow pipe 22. Therefore, air flows upward from the suction device 10, passes through the first hollow pipe 22 and the intermediate connecting pipe 242 in order, and reaches the second hollow pipe 30.

[0050] In some embodiments, the first hollow pipe 22 is connected to the intermediate connecting pipe 242 through the sealing ring 26. In particular, the lower end surface of the intermediate connecting pipe 242 includes a stepped surface, and the sealing ring is clamped against the stepped surface.

[0051] In some embodiments, the first hollow pipe 22 is arranged coaxially with the second hollow pipe 30, and the inner diameter of the first hollow pipe 22 is smaller than the inner diameter of the second hollow pipe 30. Therefore, the metering sensor assembly 20 of this embodiment can achieve air communication without excessively increasing its volume.

[0052] An embodiment of the present disclosure further provides a manipulator including a pick-up tool of one of the above-mentioned embodiments.

[0053] An embodiment of the present disclosure further provides a robot including the manipulator. In particular, the robot may be a picking robot.

[0054] Next, the structure of the pick-up tool according to one specific embodiment of the present disclosure will be further described with reference to FIGS.

[0055] As shown in FIG. 5, the pick-up tool of this embodiment includes an aspirator 10 , a weighing sensor assembly 20 , a second hollow pipe 30 , an air tube 40 and a mounting plate 50 .

[0056] The aspirator 10 includes an aspirator body 11 and a suction tube 12. The aspirator body 11 has a conically expanding structure, and the suction tube 12 is connected to the aspirator body 11 and is in gas communication with the aspirator body 11.

[0057] The weighing sensor assembly 20 is disposed between the aspirator 10 and the second hollow pipe 30 to connect the aspirator 10 and the second hollow pipe 30. In particular, as shown in FIG. 6 and FIG. 7, the weighing sensor assembly 20 includes two weighing sensors 21, a first hollow pipe 22, a first connecting base 23, a second connecting base 24 and a sealing ring 26. Here, the working principle of the weighing sensor 21 is as follows: the elastic body of the strain gauge is elastically deformed under the action of an external force, so that the resistance strain gauge attached to its surface is also deformed with it. After the deformation of the resistance strain gauge, its resistance will change, and then this resistance change will be converted into an electrical signal through the corresponding measuring circuit, thus completing the conversion of the external force into an electrical signal for calculating the weight of the received force.

[0058] Here, the first connection base 23 is integrally formed with the first hollow pipe 22. The second connection base 24 includes a connection base body 241 and an intermediate connection pipe 242. The second connection base 24 and the first connection base 23 are separately arranged, and the two weighing sensors 21 are symmetrically arranged in the space between the first connection base 23 and the second connection base 24. The intermediate connection pipe 242 is connected to the first hollow pipe 22 through a sealing ring 26.

[0059] 7, the first connection base 23 and the second connection base 24 are respectively connected to both ends of the weighing sensor 21. In particular, holes A are provided at the connections of the first connection base 23 and the second connection base 24 with the weighing sensor 21. To realize signal transmission between the weighing signal of the weighing sensor 21 and the controller and other components, the second connection base 24 in this embodiment is provided with a hole B for passing a signal transmission line.

[0060] 5 to 8, in order to make the pick-up tool of this embodiment have a more compact structure, the first connection base 23 and the second connection base 24 of this embodiment are both circular structures, and the first connection base 23 and the second connection base 24 are coaxially arranged, and both of them are coaxially arranged with the second hollow pipe 30. Furthermore, the outer diameters of the first connection base 23 and the second connection base 24 are slightly larger than the outer diameter of the second hollow pipe 30, which can reduce the volume of the entire weighing sensor assembly 20 based on the close connection.

[0061] In the technical solution of this embodiment, the weighing sensor with the rated range is replaced by two relatively small weighing sensors 21 with an unchanged range total, which are respectively arranged on both sides of the first hollow pipe 22. The upper and lower ends of the two weighing sensors 21 are respectively connected to the corresponding first and second connection bases. In the technical solution of this embodiment, since the two relatively small weighing sensors are separately arranged on both sides, there is a space for air communication at the middle position. Air flows through the hollow positions of the first and second connection bases to generate a vacuum.

[0062] When the suction device suctions an article, since the first and second connection bases are separate, gravity is supported by the weighing sensors on both sides, and the sealing ring receives a constant force over its entire circumference, ensuring the accuracy of the feedback of the pressure sensor.

[0063] In summary, according to the technical solution of this embodiment, after the weighing sensor is placed under the edge of the gripped article, the weighing sensor is divided into two parts, and the central space is used for air communication and sealed into a structural form for generating vacuum, which improves the weighing accuracy and reduces the damage probability of the weighing sensor.

[0064] Finally, it should be noted that all the above embodiments are only intended to illustrate the technical solutions of the present disclosure, and are not intended to limit the same. Although a detailed description of the present disclosure has been given with reference to the preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements to the technical solutions of the present disclosure can be made without departing from the essence and scope of the technical solutions of the present disclosure. [Explanation of symbols]

[0065] 10 Aspirator 11 Aspirator body 12 Suction tube 20 Weighing Sensor Assembly 21 Weighing Sensor 22 First hollow pipe 23 First Connection Base 24 Second Connection Base 241 Connection base body 242 Intermediate connecting pipe 26 Sealing ring 30 Second hollow pipe 40 Air Tube 50 Mounting Plate

Claims

1. A weighing sensor assembly comprising: a first hollow pipe (22); and at least two weighing sensors (21) spaced evenly around the outside of the first hollow pipe (22), the at least two weighing sensors (21) being connected to the first hollow pipe (22).

2. 2. The weighing sensor assembly of claim 1, further comprising a connection base arranged at at least one axial end of the first hollow pipe, the connection base connecting at least two of the weighing sensors and the first hollow pipe.

3. The weighing sensor assembly (20) of claim 2, comprising a first connection base (23) and a second connection base (24) respectively arranged at the axial ends of the first hollow pipe (22), the first connection base (23) having a first through hole and the second connection base (24) having a second through hole, and the first hollow pipe (22) being airtightly connected to the first through hole and the second through hole.

4. 4. The weighing sensor assembly according to claim 3, wherein said first hollow pipe (22) is integrally formed with said first connection base (23).

5. The weighing sensor assembly of claim 3 or 4, wherein the second connection base (24) includes a connection base body (241) and an intermediate connection pipe (242) arranged on the connection base body (241), and an inner cavity of the intermediate connection pipe (242) forms the second through hole.

6. 6. The weighing sensor assembly according to claim 5, wherein an end of the intermediate connecting pipe (242) remote from the first hollow pipe (22) extends axially beyond a surface of the connecting base body (241).

7. 7. The weighing sensor assembly according to claim 5 or 6, wherein the first hollow pipe (22) is connected with the intermediate connecting pipe (242) through a sealing ring (26).

8. A pick-up tool comprising an aspirator, a second hollow pipe (30) and a weighing sensor assembly according to any one of claims 1 to 7, wherein the aspirator (10) comprises an aspirator body (11) for aspirating an article and a suction tube (12) arranged at an upper end of the aspirator body (11), The second hollow pipe (30) is connected to a vacuum generator and configured to provide negative pressure to the aspirator (10), the weighing sensor assembly (20) is disposed between the suction tube (12) and the second hollow pipe (30), a lower end of the weighing sensor (21) is connected to the suction tube (12) and an upper end of the weighing sensor (21) is connected to the second hollow pipe (30), and the suction tube (12), the first hollow pipe (22), and the second hollow pipe (30) are sequentially air-communicated.

9. 9. The pick-up tool according to claim 8, wherein the first hollow pipe (22) is arranged coaxially with the second hollow pipe (30), and the inner diameter of the first hollow pipe (22) is smaller than the inner diameter of the second hollow pipe (30).

10. A pick-up tool according to claim 8 or 9, wherein the metering sensor assembly (20) is disposed adjacent to the aspirator (10).

11. A manipulator including a pick-up tool according to any one of claims 8 to 10.

12. A robot including the manipulator according to claim 11.

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