Weighing and handling device and weighing method thereof

Abstract

A weighing and handling device, comprising a mounting seat, a grabbing assembly, a weighing sensor, a limiting protection assembly, a circuit board and a display assembly, wherein an upper connecting plate and a lower connecting plate are mounted inside the mounting seat, and the weighing sensor is mounted between the upper connecting plate and the lower connecting plate; the weighing sensor comprises a deformation end and a fixed end, wherein two sides of the fixed end are fixed to the upper connecting plate and the lower connecting plate, the upper side of the deformation end is fixed to the upper connecting plate, and a gap exists between the lower side of the deformation end and the lower connecting plate; the grabbing assembly is fixedly connected to the upper connecting plate; the display assembly is connected to the weighing sensor by means of the circuit board; and the limiting protection assembly is configured to pull the upper side of the deformation end or abut against the lower side of the deformation end. The weighing and handling device can effectively solve the problem of inaccurate measurement results or damage caused by excessive deformation of the weighing sensor.

Description

Weighing and placing device and weighing method thereof Technical Field

[0001] The present invention relates to the technical field of weighing and measuring, and in particular to a weighing and placing device and a weighing method thereof. Background Art

[0002] With the development of science and technology, industrial automation is rapidly entering major enterprises, especially in technical fields or labor-intensive enterprises such as semiconductors, electronic equipment processing, and biopharmaceuticals, and the degree of automation is getting higher and higher. Therefore, high-precision weighing and placing devices are receiving more and more attention. Existing weighing and placing devices are all implemented by electric grippers in conjunction with weighing sensors. However, the deformation of the strain gauges on the weighing and placing devices needs to be kept within a certain range. When the strain gauges exceed the deformation range, the strain gauges are prone to permanent deformation and cause damage or inaccurate test accuracy. The weighing and placing devices in the prior art lack a strain gauge protection device and cannot ensure whether the strain gauges exceed the deformation range, which often causes damage to the weighing and placing devices. In view of the above defects, it is necessary to design a weighing and placing device.

[0003] Summary of the Invention

[0004] The object of the present invention is to provide a weighing and placing device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a weighing and placing device, comprising a mounting seat, a grabbing assembly, a weighing sensor, a limit protection assembly, a circuit board and a display assembly, an upper connecting plate and a lower connecting plate are installed inside the mounting seat, a weighing sensor is installed between the upper connecting plate and the lower connecting plate, the weighing sensor comprises a deformation end and a fixed end, both sides of the fixed end are fixed to the upper connecting plate and the lower connecting plate, the upper side of the deformation end is fixed to the upper connecting plate, and there is a gap between the lower side of the deformation end and the lower connecting plate; the grabbing assembly is fixedly connected to the upper connecting plate, and the display assembly is connected to the weighing sensor through the circuit board; the limit protection assembly is used for pulling the upper side of the deformation end or supporting the lower side of the deformation end in a working state and a released state.

[0006] Preferably, the mounting seat includes a cover plate and a base, the cover plate is arranged on the base, an accommodating cavity is provided inside the cover plate, and the circuit board is arranged in the accommodating cavity.

[0007] Preferably, the grabbing assembly is arranged on the side of the mounting seat, and the grabbing assembly is located on the deformation end side of the weighing sensor, and the side wall of the grabbing assembly is fixedly connected to the edge of the upper connecting plate; or the top surface of the grabbing assembly is fixedly connected to the bottom surface of the upper connecting plate.

[0008] Preferably, the limit protection assembly includes a telescopic motor, which is correspondingly arranged below the deformation end of the weighing sensor. A limit pin is installed at the telescopic end of the telescopic motor, and a limit hole matching the limit pin is opened on the weighing sensor.

[0009] Preferably, the grabbing assembly is arranged below the mounting seat, and the top surface of the grabbing assembly is fixedly connected to the edge of the upper connecting plate via a bending piece.

[0010] Preferably, the grabbing assembly is arranged below the mounting seat, and the top surface of the grabbing assembly is fixedly connected to the top surface of the upper connecting plate via a bending piece.

[0011] Preferably, the bending member is an L-shaped or U-shaped member, one end of which is fixed to the grabbing assembly, and the other end is fixed to the upper connecting plate.

[0012] Preferably, a conical hole is provided on the upper connecting plate, and the limit protection assembly includes a screw motor, which is installed in a motor box, and the motor box is installed at the bottom of the lower connecting plate. The screw of the screw motor passes through the conical hole and is threadedly connected to the screw nut, and the screw nut is installed in the limit conical pin.

[0013] Preferably, the circuit board is connected to the weighing sensor and the display assembly respectively, and is used to convert the deformation end value of the weighing sensor into a weight value displayed by the display assembly.

[0014] Preferably, it further comprises a multi-axis motion processing component, which is arranged on the side of the mounting seat and is used to detect the inclination of the grabbing component.

[0015] Compared with the prior art, the beneficial effects of the present invention are: a weighing and placing device, in embodiment 1, the screw motor drives its screw to rotate, the screw drives the screw nut to move downward, and the limiting tapered pin also moves downward, so that one end of the upper connecting plate moves downward, and the other end drives one end of the weighing sensor to move upward, preventing the weighing sensor from being excessively deformed, resulting in inaccurate measurement results of the weighing and placing device or the weighing sensor being damaged and unusable due to excessive deformation; in embodiment 2, the telescopic motor drives the limit pin to move upward through its telescopic end, and the limit pin drives the limit hole and one end of the second weighing sensor to be lifted upward, preventing the second weighing sensor from being excessively deformed, resulting in inaccurate measurement results of the weighing and placing device or the weighing sensor being damaged and unusable due to excessive deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] FIG1 is a schematic diagram of the internal structure of a weighing and placing device according to a first embodiment of the present invention;

[0018] FIG2 is a perspective view of a first embodiment of a weighing and placing device according to the present invention;

[0019] FIG3 is a schematic diagram of the structure of a grabbing assembly in a weighing and placing device of the present invention;

[0020] FIG4 is a schematic diagram of the internal structure of a weighing and placing device according to a second embodiment of the present invention.

[0021] In the attached figure: 1. Mounting base; 2. Grabbing assembly; 3. Weighing sensor; 4. Position limiting protection assembly; 5. Upper connecting plate; 6. Lower connecting plate; 7. Cover plate; 8. Base; 9. Accommodating cavity; 10. Circuit board; 11. Conical hole; 12. Screw motor; 13. Motor box; 14. Screw nut; 15. Position limiting conical pin; 16. Base; 17. T-shaped slide; 18. Second T-shaped slide; 19. Sliding block; 20. Clamping jaw; 21. Second sliding block; 22. Second clamping jaw ; 23. Robotic arm; 24. Gear; 25. Rack; 26. Second rack; 27. Slider; 28. Slide rail; 29. ​​Second slider; 30. Second slide rail; 31. Second mounting seat; 32. Second grabbing assembly; 33. Second weighing sensor; 34. Second limit protection assembly; 35. Second accommodating chamber; 36. Partition; 37. Connecting plate; 38. Second circuit board; 39. Telescopic motor; 40. Limit pin; 41. Limit hole; 42. Display assembly. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Example 1

[0024] Please refer to Figures 1-3. The present invention provides a technical solution: a weighing and placing device, comprising a mounting base 1, a grabbing component 2, a weighing sensor 3, a limit protection component 4, a circuit board 10 and a display component 42. An upper connecting plate 5 and a lower connecting plate 6 are installed inside the mounting base 1, and a weighing sensor 3 is installed between the upper connecting plate 5 and the lower connecting plate 6. The weighing sensor 3 includes a deformation end and a fixed end, and both sides of the fixed end are fixed on the upper connecting plate 5 and the lower connecting plate 6. The upper side of the deformation end is fixed to the upper connecting plate 5, and there is a gap between the lower side of the deformation end and the lower connecting plate 6. The limit protection component 4 is installed on the lower connecting plate 6, and the limit protection component 4 is connected to the upper connecting plate 5. The limit protection component 4 is used to pull the upper side of the deformation end; the grabbing component 2 is fixedly connected to the upper connecting plate 5, and the display component is connected to the weighing sensor 3 through the circuit board 10.

[0025] The mounting base 1 in this embodiment includes a cover plate 7 and a base 8, wherein the cover plate 7 is covered on the base 8, and an accommodating cavity 9 is provided inside the cover plate 7. The circuit board 10 is provided in the accommodating cavity 9, and the circuit board 10 includes a control circuit board and a signal processing circuit board. The control circuit board and the signal processing circuit board are electrically connected. The signal processing circuit board processes the voltage signal caused by the change in the resistance of the strain gauge. The signal processing circuit board converts the voltage signal into an analog signal and sends the analog signal to the control circuit board. The control circuit board converts the analog signal into a digital signal and transmits it to an external display for display. Strain gauges are provided on the upper and lower sides of the weighing sensor 3. The strain gauge and the signal processing circuit board form a bridge circuit. When the strain gauge is deformed, the resistance value will change accordingly. By designing the strain gauge into a bridge circuit, the change in voltage can be measured according to the change in resistance value, thereby measuring the change in weight.

[0026] The control circuit board in this embodiment includes a power processor, an A / D converter, and a memory. The power processor and A / D converter are electrically connected to the signal processing circuit board. The A / D converter processes the signal data sent by the signal processing circuit board. The A / D converter is an analog-to-digital converter that converts analog signals into digital signals. The A / D converter can quantify the weight change into a digital display on an external display.

[0027] In this embodiment, a conical hole 11 is provided on the upper connecting plate 5, and the limit protection assembly 4 includes a screw motor 12, which is installed in a motor box 13, and the motor box 13 is installed at the bottom of the lower connecting plate 6. The screw of the screw motor 12 passes through the conical hole 11 and is screwed to the screw nut 14, and the screw nut 14 is installed in the limit conical pin 15.

[0028] The grabbing component 2 is arranged on the side of the mounting seat 1, and the grabbing component 2 is located on the deformation end side of the weighing sensor 3, and the side wall of the grabbing component 2 is fixedly connected to the edge of the upper connecting plate 5; or the top surface of the grabbing component 2 is fixedly connected to the bottom surface of the upper connecting plate 5; this embodiment provides a technical solution with another technical concept, the grabbing component 2 is arranged below the mounting seat 1, and the top surface of the grabbing component 2 is fixedly connected to the edge of the upper connecting plate 5 through a bending piece, the grabbing component 2 is arranged below the mounting seat 1, and the top surface of the grabbing component 2 is fixedly connected to the top surface of the upper connecting plate 5 through a bending piece, and the bending piece is an L-shaped or U-shaped piece, one end of which is fixed to the grabbing component 2, and the other end is fixed to the upper connecting plate 5.

[0029] The circuit board 10 in this embodiment is connected to the weighing sensor 3 and the display component 42 respectively, and is used to convert the deformation end value of the weighing sensor 3 into a weight value displayed by the display component 42. The display component 42 is a display screen, and the display component 42 is installed on one side of the base 8.

[0030] The weighing clamp device in this embodiment also includes a multi-axis motion processing component, which is arranged on the side of the mounting base 1 and is used to detect the inclination of the grasping component 2. The multi-axis motion processing component 32 is electrically connected to the circuit board 10. The multi-axis motion processing component includes a multi-axis motion detection sensor and a three-axis acceleration sensor, or a combination structure of a gyroscope and an acceleration sensor; wherein the multi-axis motion detection sensor includes a six-axis motion detection sensor and a nine-axis motion detection sensor.

[0031] The gripping assembly in this embodiment includes a base 16, a clamping jaw 20, a second clamping jaw 22 and a drive motor. A T-shaped slot 17 and a second T-shaped slot 18 are provided at the bottom of the base 16. A sliding block 19 is provided inside the T-shaped slot 17 for sliding movement, and a clamping jaw 20 is fixedly installed on the sliding block 19. A second sliding block 21 is provided inside the second T-shaped slot 18 for sliding movement. The sliding block 19 and the second sliding block 21 are T-shaped structures, and a second clamping jaw 22 is fixedly installed on the second sliding block 21. The output shaft of the drive motor is fixedly connected to the input end of the reducer. The drive motor and the reducer are installed inside the mechanical arm 23, and the top of the mechanical arm 23 is installed at the bottom. The base 16 is installed at the bottom of the connecting plate 6 and the bottom of the mechanical arm 23. The output end of the reducer is installed with a gear 24. A rack 25 and a second rack 26 are respectively provided on both sides of the gear 24, which mesh with the gear 24. A slider 27 is installed on one side of the rack 25. The slider 27 is slidably set on a slide rail 28. The slide rail 28 is installed on one side of the interior of the mechanical arm 23. The bottom of the rack 25 is fixedly connected to the sliding block 19. A second slider 29 is installed on one side of the second rack 26. The second slider 29 is slidably set on a second slide rail 30. The second slide rail 30 is installed on the other side of the interior of the mechanical arm 23. The bottom of the second rack 26 is fixedly connected to the second sliding block 21. The provision of the slide rail 28 and the second slide rail 30 allows the sliders 27 and the second slide 29 to move on the slide rails 28 and the second slide rail 30, which helps the sliders 27 and the second slide 29 to move steadily and avoid shaking during movement.

[0032] The working principle of this embodiment is as follows: when in use, the driving motor drives the reducer to rotate, and the gear 24 is driven to rotate through the reducer transmission. The rotation of the gear 24 drives the rack 25 and the second rack 26 to move toward or away from each other, and the sliding block 19 and the second sliding block 21 also move, so that the clamping jaws 20 and the second clamping jaws 22 clamp the object to be weighed. After the clamping jaws 20 and the second clamping jaws 22 clamp the object, due to the increase in gravity, an increased gravity will be generated on the lower connecting plate 6, and then it will be detected by the weighing sensor 3. After the strain gauge on the weighing sensor 3 is deformed, the resistance value also changes accordingly, which causes the voltage to change. The control circuit board and the signal processing circuit board convert the signal data of the voltage change into a digital signal and output it to the external display, so that the weight change on the weighing sensor 3 can be measured, thereby realizing the weighing of the object. During the weighing process, when one end of the weighing sensor 3 produces elastic deformation under the action of the gravity of the object, the screw motor 12 works to drive its screw to rotate, and the screw drives the screw nut 14 to move downward, and the limiting tapered pin 15 also moves downward, so that one end of the upper connecting plate 5 moves downward, and the other end drives one end of the weighing sensor 3 to move upward, preventing the weighing sensor 3 from excessive deformation, resulting in inaccurate measurement results of the weighing and placing device or damage and unusability due to excessive deformation of the weighing sensor.

[0033] Example 2

[0034] Please refer to Figure 4, the present invention provides another technical solution: a weighing and placing device, including a second mounting base 31, a second grabbing component 32, a second weighing sensor 33, a second limit protection component 34 and a second circuit board 38, the second mounting base 31 is provided with a second accommodating cavity 35, a partition 36 is installed inside the second accommodating cavity 35, and a second weighing sensor 33 is installed on the partition 36. The second weighing sensor 33 includes a deformable end and a fixed end, the fixed end is fixed on the partition 36, and the upper side of the deformable end is in contact with the second accommodating cavity 35. The connecting plate 37 is fixed, and there is a gap between the lower side of the deformation end and the partition 36; the second grabbing component 32 is fixedly connected to the connecting plate 37, and the second grabbing component 32 has the same structure as the grabbing component 2, and the display component is connected to the second weighing sensor 33 through the circuit board 10; a second limit protection component 34 is also installed on the partition 36, and the second limit protection component 34 abuts against the deformation end of the second weighing sensor 33, and the second limit protection component 34 is used to support the working state and the released state of the lower side of the deformation end.

[0035] In this embodiment, a second circuit board 38 is installed at the bottom of the partition board 36 . The second circuit board 38 has the same structure as the circuit board 10 .

[0036] The second limit protection assembly 34 in this embodiment includes a telescopic motor 39, which is correspondingly arranged below the deformation end of the weighing sensor 33. A limit pin 40 is installed at the telescopic end of the telescopic motor 39, and a limit hole 41 matching the limit pin 40 is opened on the second weighing sensor 33.

[0037] The working principle of this embodiment is as follows: During use, the drive motor drives the reducer to rotate, which in turn drives the gear 24 to rotate. The rotation of the gear 24 drives the rack 25 and the second rack 26 to move toward or away from each other, and the sliding block 19 and the second sliding block 21 also move accordingly, causing the clamping jaws 20 and the second clamping jaws 22 to clamp the object to be weighed. After the clamping jaws 20 and the second clamping jaws 22 clamp the object, the increased gravity exerts an increased gravity on the connecting plate 37, which is then detected by the second load cell 33 and fed back as the weight of the clamped object, thereby achieving the weighing of the object. During the weighing process, when one end of the second load cell 33 elastically deforms under the action of the object's gravity, the telescopic motor 39 operates, and its telescopic end drives the limit pin 40 to move upward. The limit pin 40 drives the limit hole 41 and one end of the second load cell 33 upward to prevent the second load cell 33 from excessively deforming, which could cause inaccurate measurement results of the weighing and placing device or damage the load cell due to excessive deformation and make it unusable.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A weighing and placing device, characterized in that: The invention comprises a mounting seat (1), a gripping assembly (2), a weighing sensor (3), a limit protection assembly (4), a circuit board (10) and a display assembly. An upper connecting plate (5) and a lower connecting plate (6) are installed inside the mounting seat (1). A weighing sensor (3) is installed between the upper connecting plate (5) and the lower connecting plate (6). The weighing sensor (3) comprises a deformation end and a fixed end. Both sides of the fixed end are fixed on the upper connecting plate (5) and the lower connecting plate (6). The upper side of the deformation end is fixed to the upper connecting plate (5), and a gap exists between the lower side of the deformation end and the lower connecting plate (6). The gripping assembly (2) is fixedly connected to the upper connecting plate (5), and the display assembly is connected to the weighing sensor (3) via the circuit board (10). The limit protection assembly (4) is used for holding the upper side of the deformation end or supporting the lower side of the deformation end in a working state and a released state.

2. A weighing and placing device according to claim 1, characterized in that: The mounting seat (1) comprises a cover plate (7) and a base (8); the cover plate (7) is covered on the base (8); a receiving cavity (9) is provided inside the cover plate (7); and the circuit board (10) is arranged in the receiving cavity (9).

3. A weighing and placing device according to claim 1, characterized in that: The grabbing assembly (2) is arranged on the side of the mounting seat (1), and the grabbing assembly (2) is located on the side of the deformation end of the weighing sensor (3), and the side wall of the grabbing assembly (2) is fixedly connected to the edge of the upper connecting plate (5); or the top surface of the grabbing assembly (2) is fixedly connected to the bottom surface of the upper connecting plate (5).

4. A weighing and placing device according to claim 1, characterized in that: The limit protection component (4) comprises a telescopic motor (39), the telescopic motor (39) being arranged correspondingly below the deformation end of the weighing sensor (33), a limit pin (40) being installed at the telescopic end of the telescopic motor (39), and a limit hole (41) matching the limit pin (40) being provided on the weighing sensor (33).

5. A weighing and placing device according to claim 1, characterized in that: The grabbing assembly (2) is arranged below the mounting seat (1), and the top surface of the grabbing assembly (2) is fixedly connected to the edge of the upper connecting plate (5) via a bending piece.

6. A weighing and placing device according to claim 1, characterized in that: The grabbing assembly (2) is arranged below the mounting seat (1), and the top surface of the grabbing assembly (2) is fixedly connected to the top surface of the upper connecting plate (5) via a bending piece.

7. A weighing jaw device according to claim 5 or 6, characterized in that: The bending piece is an L-shaped or U-shaped piece, one end of which is fixed to the grabbing assembly (2) and the other end of which is fixed to the upper connecting plate (5).

8. A weighing and placing device according to claim 5 or 6, characterized in that: The upper connecting plate (5) is provided with a conical hole (11), the position limiting protection assembly (4) comprises a screw motor (12), the screw motor (12) is installed in a motor box (13), the motor box (13) is installed at the bottom of the lower connecting plate (6), the screw of the screw motor (12) passes through the conical hole (11) and is screwed to a screw nut (14), and the screw nut (14) is installed in a position limiting conical pin (15).

9. A weighing and placing device according to claim 2, characterized in that: The circuit board (10) is connected to the weighing sensor (3) and the display component respectively, and is used to process and convert the deformation end value of the weighing sensor (3) into a weight value displayed by the display component.

10. The weighing and placing device according to claim 1, characterized in that: It also comprises a multi-axis motion processing component, which is arranged on the side of the mounting seat (1) and is used to detect the inclination of the grasping component (2).

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