CN106092301A - Integral type counterweight combination automatic detection mechanism - Google Patents

Abstract

The present invention provides integral type counterweight to combine automatic detection mechanism, including: monitor station, mass comparator, actuator, counterweight dispose position, transfer station and control the detection control apparatus that testing agency runs automatically；Mass comparator is provided with multistation weighing plate；Detection control apparatus includes: central processing unit, transmission control module, computing module, output module；Computing module electrically connects with mass comparator, and the counterbalance mass mathematic interpolation for comparing according to mass comparator obtains reduced mass value or the reduced mass correction value of tested counterweight；Output module electrically connects with mass comparator and computing module respectively, the object information that the comparison counterbalance mass difference and output computing module for exporting mass comparator calculates.It is achieved in that integral type can carry out the automatic controls of counterweight component combination calibrating, and has ensured the precision of detection.

Description

Integral type counterweight combination automatic detection mechanism

Technical field

The present invention relates to counterweight amount and pass field, particularly relate to integral type counterweight component combination automatic detection mechanism.

Background technology

Counterweight is the counterweight used as standard test weight in calibration authority or in corresponding certified company, in order to right Scale, especially precision steelyard verify, or calibrate other counterweights of more low accuracy grade.

The degree of accuracy of counterweight is limited by so-called accuracy class.These accuracy classs determine each permission Maximum error.Accuracy class is divided into nine grades, wherein, grade E₁It is the most accurate counterweight grade, and grade M₃It is Coarse counterweight grade.When the counterweight amount of carrying out to each other passes, high-grade counterweight value is conclusive, namely all the time Say, after the counterweight that a counterweight is connected on higher accuracy class and compare therewith and obtain its value.It is directed to this Benchmark be international prototype kilogram, the most so-called original kilogram.This international prototype kilogram represents mass metrology unit.It is by platinoiridita Cylinder is constituted, and is saved in the BIPM near Paris.By different copy, it is followed of at this original kilogram Country's weight standard, and the most finally it is followed by accuracy class E₁Counterweight, this counterweight is again the most more The benchmark of the counterweight of low accuracy class.

Counterweight amount passes and must extremely carefully preserve and operate.Counterweight such as can not take with hand-held or touch, this is because This inevitably leads to check on counterweight deposit, and this may cause again aoxidizing on the surface of inspection counterweight, and And therefore nature can cause counterweight value to change.Even dust granule does not allows to be attached on this inspection counterweight.

There are different so-called counterweight groups, it has a counterweight of different stage, such as 1 gram, 2 grams, 5 grams, 10 grams, 20 Gram, 50 grams, 100 grams, 200 grams, 500 grams.

What China generally used have 5,2,2*, the combination of 1；Namely 5 grams, 2 grams, 2 grams, 1 gram；Or 5 milligrams, 2 milligrams, 2 milligrams, 1 milligram；The like.

The most domestic counterweight detection major part is all manually detection, is intervened by personnel and carries out matter on mass comparator Amount Determination.When particularly carrying out the calibrating of counterweight component combination, personnel are all used to have been manually done.But, this manual detection The error that device produces when operation due to operator, or misread data and the error that causes all can have a strong impact on calibrating knot Really.Especially milligram group counterweight, because milligram group counterweight is to be bent to form by specific shape by tinsel, small volume, when Operator are very easy to when gripping with clip cause counterweight to deform, thus affect the detection of counterweight, and milligram group counterweight leads to Being often to carry out detecting on the high accuracy comparator block of 1/10000000th, any trickle personal error can have a strong impact on calibrating Result.

Summary of the invention

In order to overcome above-mentioned deficiency of the prior art, it is an object of the invention to, it is provided that the combination of integral type counterweight is automatically Testing agency, including: monitor station, be arranged on monitor station for carrying out mass ratio relatively between standard test weight and tested counterweight Mass comparator, for transport counterweight actuator, for lay counterweight counterweight dispose position, for making counterweight at counterweight Peace is set to carry out the transfer station of transfer arrangement in mass comparator transmitting procedure and control what testing agency ran automatically Detection control apparatus；

Described mass comparator is provided with multistation pectination weighing plate；

Described detection control apparatus includes: central processing unit, transmission control module, computing module, output module；

Described transmission control module electrically connects with actuator, is used for controlling actuator, makes actuator at mass ratio Relatively instrument, counterweight dispose and transport counterweight between position, transfer station；

Described computing module electrically connects with mass comparator, based on the counterbalance mass difference compared according to mass comparator Calculate reduced mass value or the reduced mass correction value obtaining tested counterweight；

Described output module electrically connects with mass comparator and computing module respectively, for exporting the comparison of mass comparator The object information that counterbalance mass difference and output computing module calculate.

Preferably, described weighing plate is provided with at least one and weighs station, and each weighing station uses pectinate texture；

Described counterweight disposes position to include: least one set counterweight storehouse；

Often group counterweight storehouse is provided with several standard test weight and disposes position and several tested counterweight arrangement position.

Preferably, actuator includes: mechanical hand, mechanical arm and be connected with mechanical arm, is used for making mechanical arm edge Vertical direction lifting, and the mechanical arm making mechanical arm move along horizontal direction drives assembly；

Described mechanical hand is arranged on the robotic arm, and it is universal that described mechanical hand and the connecting portion of mechanical arm are provided with horizontal 360-degree Save and for driving mechanical hand to carry out the rotating driving device that level turns on the robotic arm.

Preferably, described mechanical hand is provided with four and captures position, and described crawl position is equipped with the pectination that several X-bar structures become, It is provided with fork stripe pitch between fork bar and fork bar；

Four capture position and include: double big forks, single big fork, double small fork, single little fork；

Detection control apparatus also includes: elevating control module, Spin Control module；

Described elevating control module electrically connects with double big forks, single big fork, double small fork, single little fork respectively, described elevating control Module carries out capturing counterweight for the double big fork of control respectively, single fork greatly, double small fork, single little fork；

Described Spin Control module electrically connects with rotating driving device.

Preferably, transfer station includes: transfer station one, transfer station two, transfer station three；

Described transfer station one is " convex " shape face structure, and described transfer station one is provided with several slivers one, sliver one with Spacing between sliver one is identical with the fork stripe pitch of double big forks, or the fork of the fork big with list of the spacing between sliver one and sliver one Stripe pitch is identical；" convex " shape face structure is provided with the station of four arrangement counterweights；

Described transfer station one is used for making mechanical hand complete to be converted to double big fork by single big fork crawl counterweight and captures counterweight, or Person makes mechanical hand complete to be converted to single big fork by double big fork crawl counterweights and captures counterweight；

Described transfer station two is " convex " shape face structure, and described transfer station one is provided with several slivers two, sliver two with Spacing between sliver two is identical with the fork stripe pitch that double small is pitched, or the fork of the spacing between sliver two and sliver two and single little fork Stripe pitch is identical；" convex " shape face structure is provided with the station of four arrangement counterweights；

Described transfer station two is used for making mechanical hand complete to be captured counterweight by single little fork and is converted to double small fork crawl counterweight, or Person makes mechanical hand complete to be captured counterweight by double small fork and is converted to single little fork crawl counterweight；

Described transfer station three is side " mesh " shape face structure, and described transfer station three is used for making mechanical hand complete by single little fork Capture counterweight to be converted to single big fork and capture counterweight, or make mechanical hand complete to be captured counterweight by single big fork to be converted to single little fork and capture Counterweight, side " mesh " shape face structure is provided with one or two station disposing counterweight.

Preferably, detection control apparatus also includes: actuator position acquisition module, measure set of time module, compare Weighing cycle arranges module, centering is circularly set module, centering module；

Described centering module, for controlling mechanical hand by counterweight according to default centering number of times, is claimed with a gram group by mechanical hand Amount dish or milligram group weighing plate hand over up and down arrange mobile after, counterweight is produced minute movement by action of gravity, make counterweight move to gram Group weighing plate or the close center of milligram group weighing plate；

Described centering is circularly set module for arranging centering number of times；

Described actuator position acquisition module is for obtaining mechanical arm positional information above monitor station, and passes through defeated Go out module to export with the form of coordinate；

Described measurement set of time module is for arranging the initial time of detection；

Described compare weighing cycle arrange module for arrange carry out between standard test weight and tested counterweight mass ratio compared with Number of times.

Preferably, detection control apparatus also includes: comparison task arranges module, counterweight transfer arranges module；

Described comparison task arranges module for the comparison between Criterion counterweight and tested counterweight, and to foundation Standard test weight and the tested counterweight of comparison arrange comparative sequence；

The transfer of described counterweight arranges module for arranging the standard test weight of module foundation according to described comparison task with tested Comparison between counterweight and the comparative sequence of setting, arrange the order of counterweight transfer, make described transmission control module root Control actuator according to the counterweight transfer sequence arranged and transport counterweight.

Preferably, described detection control apparatus also includes: stores module, jerk module, reseting module and is used for and clothes The data communication module of business device communication connection；

Described storage module is for storing the operation information of detection control apparatus, detection procedural information and testing result letter Breath.

Preferably, also include: cover sets the seal closure outside monitor station, and seal closure is provided with hermatic door, and hermatic door is provided with The switch sensor electrically connected with central processing unit；

Be provided with in described seal closure electrically connect with central processing unit respectively temperature sensor, humidity sensor, atmospheric pressure Sensor.

Preferably, described weighing plate is provided with four and weighs station, and four weigh the arrangement of station triangularity, and described title Amount dish uses the design of triangle pectination dish；

Described four weigh station for weighing station one, weighing station two, weighing station three, weighing station four；

Described weighing station one, weighing station two, weighing station three are arranged on described vertex of a triangle, weigh station four It is arranged on and weighs station two and weigh on the midpoint of station three line, and be located on same straight line with weighing station one.

As can be seen from the above technical solutions, the invention have the advantages that

The integral type counterweight combination automatic detection mechanism of the present invention uses a pair four component combination checking methods to carry out E₁Grade Kilogram counterweight, gram weight detecting E₂The calibration operation of grade and level below (1mg-1kg) counterweight is it can also be used to standard is E₁ Or E₂Grade (1-500) g and (1-500) mg counterweight carry out substitution method Comparison Method one to one and carry out transmission of quantity value weight detecting work Make, be achieved in that automatic detection, and ensured the precision of detection, be suitable for detection range wide, it is to avoid personal error is to calibrating knot Having a strong impact on of fruit.

Accompanying drawing explanation

In order to be illustrated more clearly that technical scheme, will the accompanying drawing used required in describing be made simple below Ground is introduced, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ordinary skill From the point of view of personnel, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the overall structure figure of integral type counterweight combination automatic detection mechanism；

Fig. 2 is detection control apparatus schematic diagram；

Fig. 3 is the structure chart of weighing plate；

Fig. 4 is the example structure figure of weighing plate；

Fig. 5 is the structure chart that counterweight disposes position；

Fig. 6 is the structure chart of actuator；

Fig. 7 is the structure chart of mechanical hand；

Fig. 8 is single big fork and transfer station three forked working structure chart；

Fig. 9 is single little fork and transfer station three forked working structure chart；

Figure 10 is the structure chart of transfer station one；

Figure 11 is the structure chart of transfer station two；

Figure 12 is the structure chart of transfer station three；

Figure 13 is the applicating flow chart of transfer station one；

Figure 14 is the applicating flow chart of transfer station two；

Figure 15 is centering process schematic diagram；

Figure 16 is centering process schematic diagram；

Figure 17 is centering process schematic diagram；

Figure 18 is centering process schematic diagram.

Detailed description of the invention

For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, concrete by using below Embodiment and accompanying drawing, be clearly and completely described the technical scheme of present invention protection, it is clear that enforcement disclosed below Example is only a part of embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area All other embodiments that art personnel are obtained under not making creative work premise, broadly fall into the model of this patent protection Enclose.

The present embodiment offer integral type counterweight combination automatic detection mechanism, as shown in Figure 1, Figure 2, Figure 3 shows, including: monitor station 1, be arranged on monitor station 1 for carry out between counterweight and counterweight mass ratio compared with mass comparator 2, for transporting counterweight Actuator, dispose position 3, for making counterweight dispose position 3 to the biography of mass comparator 2 at counterweight for laying the counterweight of counterweight Carry out the transfer station 4 of transfer arrangement during defeated and control the detection control apparatus that testing agency runs automatically；

Mass comparator 2 is provided with weighing plate 11；

Detection control apparatus includes: central processing unit 31, transmission control module 34, computing module 35, output module 36；

Transmission control module 34 electrically connects with actuator, is used for controlling actuator, makes actuator at mass ratio relatively Instrument 2, counterweight dispose and transport counterweight between position 3, transfer station 4；Computing module 35 electrically connects with mass comparator 2, for basis The counterbalance mass mathematic interpolation that mass comparator 2 compares obtains reduced mass value or the reduced mass correction value of tested counterweight； Output module 36 electrically connects with mass comparator 2 and computing module 35 respectively, for exporting the comparison counterweight matter of mass comparator 2 The object information that amount difference and output computing module 35 calculate.

It is understood that the integral type counterweight combination automatic detection mechanism of the present invention is for using a pair four component combination Checking method carries out E₁Grade kilogram counterweight, gram weight detecting E₂Grade and the calibration operation of level below (1mg-1kg) counterweight, also Can be used for standard is E₁Or E₂Grade (1-500) g and (1-500) mg counterweight carry out substitution method Comparison Method one to one and carry out value Transmission weight detecting work.

Operation principle is quantity value comparison principle, at known standard test weight mass value, density of material and mechanism's the temperature inside the box, sky The parameter such as air tightness and atmospheric pressure, the quality obtained by standard test weight and the comparison on same mass comparator of the tested counterweight Difference, then reduced mass value or the reduced mass correction value of tested counterweight is obtained by rational mathematical model.

In the present invention, central processing unit 31 is testing agency's kernel control chip, and the brain of Ye Shi testing agency is used for controlling System and each element of allotment testing agency, make testing agency run under default program, be finally calculated standard test weight And the difference between tested counterweight, further it is calculated the actual mass value of tested counterweight.

In the present embodiment, also included by testing agency: cover sets the seal closure 17 outside monitor station 1, and seal closure 17 sets Hermatic door, hermatic door is had to be provided with the switch sensor electrically connected with central processing unit；Seal closure 17 makes whole testing machine configuration Become a confined space, be so to carry out at a confined space weighing process mechanism, improve the precision of detection, reduce the external world The environment impact on detection.

Be provided with in seal closure 17 electrically connect with central processing unit respectively temperature sensor 49, humidity sensor 51, air Pressure sensor 52.Central processing unit according to can when weighing the temperature of Real-time Collection confined space, humidity, atmospheric pressure, and pass through Output module exports, the most also can be using temperature, humidity, atmospheric pressure as the influence factor detected, it is contemplated that to detection knot The correction of fruit.Other sensors can also be set, the geographical conditions around Real-time Collection laboratory, residing orientation, internal sky The factors such as adjusting system situation, make detection meet requirement further.

In the present embodiment, weighing plate 11 is provided with at least one station placing counterweight, and concrete places one to four Counterweight station, each weighing station uses pectinate texture；

As it is shown in figure 5, counterweight disposes position 3 to include: least one set counterweight storehouse；Counterweight storehouse is provided with several standard test weight and disposes position 8 and several tested counterweight dispose position 9.

Counterweight storehouse has two groups, one group of standard weight being to place 1kg, 500g, 200g, * 200g, 100g, 50g, 20g, * 20g Code and/or tested counterweight；Another group place 10g, 5g, 2g, * 2g, 1g, 500mg, 200mg, * 200mg, 100mg, 50mg, The standard test weight of 20mg, * 20mg, 10mg, 5mg, 2mg, * 2mg, 1mg and/or tested counterweight.

As shown in Figure 4, weighing plate 11 and transfer station 1 and transfer station 2 22 are equipped with four and weigh stations, four Individual weighing station triangularity arranges, and weighing plate uses triangle pectination dish 12 to design；

Four weigh station for weighing station 1, weighing station 2 14, weighing station 3 15, weighing station 4 16；Claim Amount station 1, weighing station 2 14, weighing station 3 15 are arranged on vertex of a triangle, weigh station 4 16 and are arranged on weighing On the midpoint of station 2 14 and weighing station 3 15 line, and it is located on same straight line with weighing station 1.This structure It is easy to actuator pick and place, centering and the comparison of mass comparator.

In the present embodiment, it is provided with two mass comparators 2, the most in the present invention particular number to mass comparator 2 Do not limit.Two mass comparators 2 can be: a maximum weighing Max=1kg, scale division value d=1 μ g；Another large scale Amount Max=10g, scale division value d=0.1 μ g；

Two mass comparators 2 use four to weigh the row's weighing plates design of station pectinations, and this design has three functions, and one It has been and the coordinating of actuator to add unloaded operation for standard test weight or tested counterweight；Two be standard test weight or Tested counterweight weighs；Three is can to weigh one to four counterweight simultaneously.The mass value of counterweight can be converted to number by this weighing plate 11 Word amount shows.Mass comparator 2 has self-locating function, can add unloading counterweight up and down by coordinating with actuator, borrow Help terrestrial gravitation so that be loaded counterweight and produce the microdisplacement towards scale pan center, last through loading operation the most up and down Reach to be loaded counterweight center of gravity and scale pan center superposition, improve the accuracy of detection.

Having four stations and weigh function employing triangle pectination dish design, can reach and at most weighing counterweight number is four, Weighing counterweight quantity can be a counterweight, two counterweights, three counterweights or four counterweights.

In the present embodiment, as shown in Figure 6, actuator includes: mechanical hand 7, mechanical arm 5 and coordinate even with mechanical arm 5 Connect, be used for making mechanical arm 5 lift along vertical direction, and the mechanical arm making mechanical arm 5 move along horizontal direction drives assembly 6；Mechanical hand 7 is arranged on mechanical arm 5, and mechanical hand 7 is provided with universal joint and for driving mechanical hand with the connecting portion of mechanical arm 5 360 degree of rotating driving devices rotated on the robotic arm.

Being provided with infrared inductor on mechanical hand, sensing standard test weight disposes the standard test weight position on position 8, makes to phoresy machine Structure captures standard test weight accurately, meanwhile, also enables detection control apparatus obtain standard test weight and disposes standard test weight on position 8 Quantity.The same tested counterweight position sensed on tested counterweight arrangement position 9, makes actuator capture tested counterweight accurately, with Time, also enable detection control apparatus obtain tested counterweight and dispose the quantity of tested counterweight on position 9.

Here it is possible to by arranging gear on mechanical arm 5, mechanical arm drives assembly 6 to arrange tooth bar and servomotor, Drive mechanical arm 5 to move horizontally, the tooth bar of vertical direction is set simultaneously again, make mechanical arm 5 lift along vertical direction.All right Mechanical arm drives and arranges horizontal guide rail and upright guide rail on assembly 6, and mechanical arm 5 arranges guide wheel and servomotor, mechanical arm 5 The realization that matched with horizontal guide rail and upright guide rail respectively by guide wheel is mobile.Mechanical arm 5 and mechanical arm drive assembly 6 all right Using mode transmission of chain etc., the concrete kind of drive does not limits.

In the present embodiment, as shown in Fig. 7, Fig. 8, Fig. 9, mechanical hand 7 is provided with four and captures position, captures position and is equipped with several Fork bar, is provided with between fork bar and fork bar and pitches stripe pitch uniformly；It is achieved that crawl in so counterweight is stuck in fork stripe pitch.

Four capture position and include: double big forks 72, single big fork 71, double small fork 74, single little fork 73；

Detection control apparatus also includes: elevating control module, Spin Control module；Elevating control module respectively with double big forks 72, single big fork 71, double small fork 74, single little fork 73 electrically connect, and elevating control module is for controlling double big fork 72, single big fork respectively 71, double small fork 74, single little fork 73 carry out capturing counterweight；Spin Control module electrically connects with rotating driving device.Rotate and drive dress Put and can take servomotor or drive cylinder or hydraulic cylinder etc..Wherein Fig. 8 is single big fork and transfer station 3 23 forked working Schematic diagram.Fig. 9 is the schematic diagram of single little fork and transfer station 3 23 forked working.

In the present embodiment, as shown in Figure 10, Figure 11, Figure 12, transfer station is that standard test weight or tested counterweight are from counterweight storehouse A terminal in mass comparator weighing plate transmitting procedure, is also a transfer station, in the present embodiment, devises three Individual transfer station 4.

Transfer station 4 includes: transfer station 1, transfer station 2 22, transfer station 3 23；

Transfer station 1 can complete 1kg mass comparator and carry out transfer with the counterweight storehouse equipped with 20g-1kg counterweight.In Switching stations 1 uses pectinate texture, the spacing between sliver 1 with sliver 1 and pair fork stripe pitch phase of big fork 72 With, or the spacing between sliver 1 with sliver 1 is identical with the fork stripe pitch of single big fork；

Transfer station 1 is used for making mechanical hand complete to be converted to double big fork by single big fork crawl counterweight and captures counterweight, or Make mechanical hand complete to be converted to single big fork by double big fork crawl counterweights and capture counterweight；Specific implementation process is as shown in figure 13, mechanical The single big fork 71 of hands 7 takes out counterweight from counterweight storehouse, arrives first transfer station 1 and places, and after being put into some, transfers to double Big fork 72 carries out crawl and delivers to mass comparator, improves and transports efficiency, also ensures the accurate of transport.

Transfer station 2 22 uses pectinate texture, the fork bar that the spacing between sliver 2 221 and sliver 2 221 is pitched with double small Spacing is identical, or the spacing between sliver 2 221 with sliver 2 221 is identical with the fork stripe pitch of single little fork；Transfer station 2 22 May be used for 10g mass comparator and carry out transfer with the counterweight storehouse equipped with 1mg-10g counterweight.

Transfer station two is used for making mechanical hand complete to be captured counterweight by single little fork and is converted to double small fork crawl counterweight, or makes Mechanical hand completes to be captured counterweight by double small fork and is converted to single little fork crawl counterweight；

As shown in figure 14, the little fork of list 73 of mechanical hand 7 takes out counterweight from counterweight storehouse, arrives first transfer station 2 22 and puts Put, after being put into some, transfer double small fork 74 to and carry out crawl and deliver to mass comparator, improve and transport efficiency, also ensure to transport Accurate.

Transfer station 3 23 uses pectinate texture, and transfer station three is used for making mechanical hand complete to be captured counterweight by single little fork and turns It is changed to single big fork and captures counterweight, or make mechanical hand complete to be captured counterweight by single big fork to be converted to single little fork and capture counterweight.Transfer Station 3 23 can assist the 10g counterweight on counterweight storehouse to weigh on 1kg mass comparator.

In the present embodiment, detection control apparatus also includes: actuator position acquisition module 38, measurement set of time module 39, compare weighing cycle arrange module 41, centering be circularly set module 42, centering module 32；

Described centering module 32 is for controlling mechanical hand by counterweight according to default centering number of times, by mechanical hand and gram group Weighing plate or milligram group weighing plate hand over up and down arrange mobile after, counterweight is produced minute movement by action of gravity, make counterweight move to Gram group weighing plate or the close center of milligram group weighing plate；

Actuator position acquisition module 38 is for obtaining mechanical arm positional information above monitor station 1, and passes through defeated Go out module to export with the form of coordinate；Measure set of time module 39 for arranging the initial time of detection；Centering is circularly set Module 41 controls actuator adjustment counterweight number of times of position on weighing plate for arranging centering module, makes centering module set In fixed cycle-index, make the center of gravity of counterweight and pan of a steelyard center in default scope；Comparison weighing cycle arranges module 42 and uses In arrange mass comparator to counterweight between carry out mass ratio compared with number of times.

If Figure 15 is to shown in 18, centering is circularly set module, centering module by the control to mechanical hand, make mechanical hand with Gram group weighing plate or milligram group weighing plate hand over up and down arrange mobile after, counterweight is produced minute movement by action of gravity, makes counterweight move Move to gram group weighing plate or a close center for milligram group weighing plate.Here centering number of times can be according to the reality of verification process Border needs concrete setting.

Detection control apparatus also includes: comparison task arranges module 43, counterweight transfer arranges module 44；

Comparison task arranges module 43 for the comparison between Criterion counterweight and tested counterweight, and to setting up ratio Standard test weight and the tested counterweight of relatively relation arrange comparative sequence；Counterweight transfer arranges module 44 for arranging according to comparison task Comparison between standard test weight and tested counterweight that module is set up and the comparative sequence of setting, arrange the suitable of counterweight transfer Sequence, makes transmission control module control actuator according to the counterweight transfer sequence arranged and transports counterweight.

Detection control apparatus also includes: stores module 45, jerk module 46, reseting module 47 and is used for leading to server The data communication module 48 that letter connects；Store module 45 for storing the operation information of detection control apparatus, detection procedural information And testing result information.

Integral type counterweight combination automatic detection mechanism operationally, first sets up task, and the task of foundation is robot work Part I, through arranging formation job order, this job order is communicated can be operated.Edit counterweight distribution again, at counterweight The diverse location in storehouse places standard test weight and tested counterweight, determines counterweight bin location residing for each counterweight by editor counterweight storehouse.Add Add counterweight centering task and determine counterweight center of gravity, mainly set counterweight centering cycle-index.

Comparison task arranges module 43 and sets counterweight comparative sequence, and typically in ABBA or ABA mode, wherein A represents weight Code A is standard test weight；It is tested counterweight that B represents counterweight B.After the task of foundation completes, start Detection task, can arrive through transmitting Reach Robot actions interface, robot work can be started under this interface.After mechanical hand completes the comparison task set, Central control unit can produce result, and stores in the storage module of computer.

The present embodiment can use four station modular checking methods to realize detection, particularly as follows:

The calibrating sequence using international recommendation to provide, completes the work transmitted by a standard test weight to one group of counterweight.

The following is the four station weight detecting sequences that international recommendation provides:

Standard test weight	Relatively	5+2+2*+1
			Standard test weight	Relatively	5+2+2*+1*
5	Relatively	2+2*+1
			5	Relatively	2+2*+1*
2+1	Relatively	2*+1*
			2+1	Relatively	2*+1*
2+1*	Relatively	2*+1
			2+1*	Relatively	2*+1
2	Relatively	1+1*
			2	Relatively	1+1*
2*	Relatively	1+1*
			2*	Relatively	1+1*

According to this sequence, can design mathematic model, by known standard test weight value and standard test weight and tested combination The comparison difference of counterweight, draws the actual reduced mass value of a whole set of counterweight.Owing to being a standard test weight and the highest number of combinations It is the counterweight combination of four, therefore this method is referred to as a pair four component combination checking methods.

This project can realize, and utilizes an E₁Grade 1kg counterweight and 3 (* 100g, * 10g, * 1g) check standard counterweights, This equipment mechanism transmission of quantity value is utilized to obtain 500g 200g*200g 100g 50g 20g*20g 10g 5g 2g*2g 1g.

1, station design is compared

This combination is it is crucial that the adding of the counterweight that completes to utilize mechanical hand to complete a station, two stations, three stations, four stations Unloading.

One station carrying counterweight: 1kg

*100、*10g、*1g

500g、50g、5g

200g、20g、2g

*200、*20g、*2g

Two station carrying counterweights: 200g+100g, 20g+10g, 2g+1g

*200g+*100g、*20g+*10g、*2g+*1g

*200g+100g、*20g+10g、*2g+1g

200g+*100g、20g+*10g、2g+*1g

100g+*100g、10g+*10g、1g+*1g

Three station carrying counterweight: 200g+*200g+100g

200g+*200g+*100g

Four station carrying counterweight: 500g+200g+*200g+100g

500g+200g+*200g+*100g

List (the big or little) fork the most often organizing fork is used for holding for carrying one station and the counterweight of two stations, double (big or little) Carry three stations and the counterweight of four stations.

Comparison program designs

Comparison principle is that total nominal value of the two groups of counterweights compared is identical, the counterweight group that the single, double fork of i.e. one group fork is inserted The nominal value closing mass value is identical, so the following alignments of design:

The mathematical model of calibrating value, can solve the mass value of counterweight in groups, namely calculate mould according to following equation Block is calculated by following mathematical model；

${\mathrm{mc}}_{500}=\frac{2{\mathrm{mc}}_{1kg}+{\mathrm{\Δm}}_1+{\mathrm{\Δm}}_2-{\mathrm{\Δm}}_3-{\mathrm{\Δm}}_4}{4}$

${\mathrm{mc}}_{200}=\frac{4{\mathrm{mc}}_{500}+2{\mathrm{\Δm}}_3+2{\mathrm{\Δm}}_4-{\mathrm{\Δm}}_5-{\mathrm{\Δm}}_6-{\mathrm{\Δm}}_7-{\mathrm{\Δm}}_8-{\mathrm{\Δm}}_9-{\mathrm{\Δm}}_{10}}{10}$

${\mathrm{mc}}_{*200}=\frac{4{\mathrm{mc}}_{500}+2{\mathrm{\Δm}}_3+2{\mathrm{\Δm}}_4+{\mathrm{\Δm}}_5+{\mathrm{\Δm}}_6+{\mathrm{\Δm}}_7+{\mathrm{\Δm}}_8-{\mathrm{\Δm}}_{11}-{\mathrm{\Δm}}_{12}}{10}$

${\mathrm{mc}}_{100}=\frac{2{\mathrm{mc}}_{200}+{\mathrm{\Δm}}_7+{\mathrm{\Δm}}_8+{\mathrm{\Δm}}_{11}+{\mathrm{\Δm}}_{12}}{4}$

${\mathrm{mc}}_{50}=\frac{2{\mathrm{mc}}_{100g}+{\mathrm{\Δm}}_{13}+{\mathrm{\Δm}}_{14}-{\mathrm{\Δm}}_{15}-{\mathrm{\Δm}}_{16}}{4}$

${\mathrm{mc}}_{20}=\frac{4{\mathrm{mc}}_{50}+2{\mathrm{\Δm}}_{15}+2{\mathrm{\Δm}}_{16}-{\mathrm{\Δm}}_{17}-{\mathrm{\Δm}}_{18}-{\mathrm{\Δm}}_{19}-{\mathrm{\Δm}}_{20}-{\mathrm{\Δm}}_{21}-{\mathrm{\Δm}}_{22}}{10}$

${\mathrm{mc}}_{*20}=\frac{4{\mathrm{mc}}_{50}+2{\mathrm{\Δm}}_{15}+2{\mathrm{\Δm}}_{16}+{\mathrm{\Δm}}_{17}+{\mathrm{\Δm}}_{18}+{\mathrm{\Δm}}_{19}+{\mathrm{\Δm}}_{20}-{\mathrm{\Δm}}_{23}-{\mathrm{\Δm}}_{24}}{10}$

${\mathrm{mc}}_{10}=\frac{2{\mathrm{mc}}_{20}+{\mathrm{\Δm}}_{19}+{\mathrm{\Δm}}_{20}+{\mathrm{\Δm}}_{23}+{\mathrm{\Δm}}_{24}}{4}$

${\mathrm{mc}}_5=\frac{2{\mathrm{mc}}_{10g}+{\mathrm{\Δm}}_{25}+{\mathrm{\Δm}}_{26}-{\mathrm{\Δm}}_{27}-{\mathrm{\Δm}}_{28}}{4}$

${\mathrm{mc}}_2=\frac{4{\mathrm{mc}}_5+2{\mathrm{\Δm}}_{27}+2{\mathrm{\Δm}}_{28}-{\mathrm{\Δm}}_{29}-{\mathrm{\Δm}}_{30}-{\mathrm{\Δm}}_{31}-{\mathrm{\Δm}}_{32}-{\mathrm{\Δm}}_{33}-{\mathrm{\Δm}}_{34}}{10}$

${\mathrm{mc}}_{*2}=\frac{4{\mathrm{mc}}_5+2{\mathrm{\Δm}}_{27}+2{\mathrm{\Δm}}_{28}+{\mathrm{\Δm}}_{29}+{\mathrm{\Δm}}_{30}+{\mathrm{\Δm}}_{31}+{\mathrm{\Δm}}_{32}-{\mathrm{\Δm}}_{35}-{\mathrm{\Δm}}_{36}}{10}$

${\mathrm{mc}}_1=\frac{2{\mathrm{mc}}_2+{\mathrm{\Δm}}_{31}+{\mathrm{\Δm}}_{32}+{\mathrm{\Δm}}_{35}+{\mathrm{\Δm}}_{36}}{4}.$

In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other The difference of embodiment, identical similar portion reference mutually between each embodiment.

Term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second ", " the 3rd " " Four " etc. (if present) is for distinguishing similar object, without being used for describing specific order or precedence.Should manage Solve the data so used can exchange in the appropriate case, in order to embodiments of the invention described herein can with except Here the order beyond those illustrating or describing is implemented.Additionally, term " includes " and " having " and their any deformation, It is intended to cover non-exclusive comprising.

Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (10)

1. integral type counterweight combination automatic detection mechanism, it is characterised in that including: monitor station, be arranged on monitor station for To carry out between standard test weight and tested counterweight mass ratio compared with mass comparator, for transport counterweight actuator, for The counterweight laying counterweight disposes position, for making counterweight be set in mass comparator transmitting procedure carry out transfer arrangement in counterweight peace Transfer station and control the detection control apparatus that automatically runs of testing agency；

Described mass comparator is provided with multistation pectination weighing plate；

Described detection control apparatus includes: central processing unit, transmission control module, computing module, output module；

Described transmission control module electrically connects with actuator, is used for controlling actuator, make actuator mass comparator, Counterweight disposes and transports counterweight between position, transfer station；

Described computing module electrically connects with mass comparator, obtains for the counterbalance mass mathematic interpolation compared according to mass comparator Reduced mass value or reduced mass correction value to tested counterweight；

Described output module electrically connects with mass comparator and computing module respectively, for exporting the comparison counterweight of mass comparator The object information that quality difference and output computing module calculate.

Integral type counterweight the most according to claim 1 combination automatic detection mechanism, it is characterised in that set on described weighing plate Having at least one to weigh station, each weighing station uses pectinate texture；

Described counterweight disposes position to include: least one set counterweight storehouse；

Often group counterweight storehouse is provided with several standard test weight and disposes position and several tested counterweight arrangement position.

Integral type counterweight the most according to claim 1 and 2 combination automatic detection mechanism, it is characterised in that

Actuator includes: mechanical hand, mechanical arm and be connected with mechanical arm, is used for making mechanical arm along vertical direction liter Drop, and the mechanical arm making mechanical arm move along horizontal direction drives assembly；

Described mechanical hand is arranged on the robotic arm, the connecting portion of described mechanical hand and mechanical arm be provided with horizontal 360-degree universal joint with And for driving mechanical hand to carry out the rotating driving device that level turns on the robotic arm.

Integral type counterweight the most according to claim 3 combination automatic detection mechanism, it is characterised in that described mechanical hand is provided with Four capture position, and described crawl position is equipped with the pectination that several X-bar structures become, and is provided with fork stripe pitch between fork bar and fork bar；

Four capture position and include: double big forks, single big fork, double small fork, single little fork；

Detection control apparatus also includes: elevating control module, Spin Control module；

Described elevating control module electrically connects with double big forks, single big fork, double small fork, single little fork respectively, described elevating control module For controlling double fork greatly, single big fork respectively, double small is pitched, single little fork carries out capturing counterweight；

Described Spin Control module electrically connects with rotating driving device.

Integral type counterweight the most according to claim 4 combination automatic detection mechanism, it is characterised in that transfer station includes: Transfer station one, transfer station two, transfer station three；

Described transfer station one is " convex " shape face structure, and described transfer station one is provided with several slivers one, sliver one and sliver Spacing between one is identical with the fork stripe pitch of double big forks, or between the fork bar of spacing between sliver one and sliver one and single big fork Away from identical；" convex " shape face structure is provided with the station of four arrangement counterweights；

Described transfer station one is used for making mechanical hand complete to be converted to double big fork by single big fork crawl counterweight and captures counterweight, or makes Mechanical hand completes to be converted to single big fork by double big fork crawl counterweights and captures counterweight；

Described transfer station two is " convex " shape face structure, and described transfer station one is provided with several slivers two, sliver two and sliver Spacing between two is identical with the fork stripe pitch that double small is pitched, or between the fork bar of spacing between sliver two and sliver two and single little fork Away from identical；" convex " shape face structure is provided with the station of four arrangement counterweights；

Described transfer station two is used for making mechanical hand complete to be captured counterweight by single little fork and is converted to double small fork crawl counterweight, or makes Mechanical hand completes to be captured counterweight by double small fork and is converted to single little fork crawl counterweight；

Described transfer station three is side " mesh " shape face structure, and described transfer station three is used for making mechanical hand complete by single little fork and captures Counterweight is converted to single big fork and captures counterweight, or makes mechanical hand complete to be captured counterweight by single big fork to be converted to single little fork and capture weight Code, side " mesh " shape face structure is provided with one or two station disposing counterweight.

Integral type counterweight the most according to claim 3 combination automatic detection mechanism, it is characterised in that detection control apparatus is also Including: actuator position acquisition module, measure set of time module, compare that weighing cycle arranges module, centering is circularly set Module, centering module；

Described centering module is for controlling mechanical hand by counterweight according to default centering number of times, by mechanical hand and a gram group weighing plate Or milligram group weighing plate hand over up and down arrange mobile after, counterweight is produced minute movement by action of gravity, makes counterweight move to a gram group and claims Amount dish or the close center of milligram group weighing plate；

Described centering is circularly set module for arranging centering number of times；

Described actuator position acquisition module is used for obtaining mechanical arm positional information above monitor station, and by output mould Block exports with the form of coordinate；

Described measurement set of time module is for arranging the initial time of detection；

Described compare weighing cycle arrange module for arrange carry out between standard test weight and tested counterweight mass ratio compared with number of times.

Integral type counterweight the most according to claim 3 combination automatic detection mechanism, it is characterised in that detection control apparatus is also Including: comparison task arranges module, counterweight transfer arranges module；

Described comparison task arranges module for the comparison between Criterion counterweight and tested counterweight, and compares foundation Standard test weight and the tested counterweight of relation arrange comparative sequence；

The transfer of described counterweight arranges module for arranging, according to described comparison task, standard test weight and the tested counterweight that module is set up Between comparison and the comparative sequence of setting, arrange counterweight transfer order, make described transmission control module according to setting The counterweight transfer sequence put controls actuator and transports counterweight.

Integral type counterweight the most according to claim 7 combination automatic detection mechanism, it is characterised in that described detection controls dress Put and also include: store module, jerk module, reseting module and be used for the data communication module being connected with server communication；

Described storage module is for storing the operation information of detection control apparatus, detection procedural information and testing result information.

Integral type counterweight the most according to claim 1 and 2 combination automatic detection mechanism, it is characterised in that

Also include: cover sets the seal closure outside monitor station, and seal closure is provided with hermatic door, and hermatic door is provided with and central processing unit The switch sensor of electrical connection；

Be provided with in described seal closure electrically connect with central processing unit respectively temperature sensor, humidity sensor, atmospheric pressure sensing Device.

Integral type counterweight the most according to claim 2 combination automatic detection mechanism, it is characterised in that on described weighing plate Being provided with four and weigh station, four weigh the arrangement of station triangularity, and described weighing plate uses the design of triangle pectination dish；

Described four weigh station for weighing station one, weighing station two, weighing station three, weighing station four；

Described weighing station one, weighing station two, weighing station three are arranged on described vertex of a triangle, weigh station four and arrange Weighing station two and weighing on the midpoint of station three line, and be located on same straight line with weighing station one.