CN108151837B - A kind of high-precision of low power impact force quickly weighs robot - Google Patents

A kind of high-precision of low power impact force quickly weighs robot Download PDF

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Publication number
CN108151837B
CN108151837B CN201711295702.7A CN201711295702A CN108151837B CN 108151837 B CN108151837 B CN 108151837B CN 201711295702 A CN201711295702 A CN 201711295702A CN 108151837 B CN108151837 B CN 108151837B
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China
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crucible
balance
digital calculation
robot
precision
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CN201711295702.7A
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CN108151837A (en
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班书昊
李晓艳
谭邹卿
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Changzhou University
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Changzhou University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01GWEIGHING
    • G01G17/00Apparatus for or methods of weighing material of special form or property
    • G01G17/04Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01GWEIGHING
    • G01G23/00Auxiliary devices for weighing apparatus

Abstract

The invention discloses a kind of high-precisions of low power impact force quickly to weigh robot, belongs to high-precision weighing robot field and automatic field.It includes that the linear motion that is installed on U-shaped frame is secondary and ball screw assembly, digital calculation balance and the crucible being placed on crucible tongs, the motor being connected with ball screw assembly, is placed with solid powder to be weighed in crucible;Balance base is equipped with the groove of bigger about digital calculation balance bed-plate dimension, and shock-absorbing spring is installed in groove, and the sensibility reciprocal precision of digital calculation balance is 0.1mg, is placed horizontally on shock-absorbing spring;The weighing plate top of digital calculation balance is installed with weighing bar;The underface that bar is located at crucible is weighed, crucible tongs are equipped with circular through hole, and crucible is placed in circular through hole.Weighing robot of the invention reduces impact force at contact by digital calculation balance elevating movement, can significantly shorten the balance data fluctuations time.

Description

A kind of high-precision of low power impact force quickly weighs robot
Technical field
The invention mainly relates to high-precision weighing robot field and automatic fields, refer in particular to a kind of height of low power impact force Precision quickly weighs robot.
Background technique
One of the research hotspot that automation weighing has become robot field is implemented using digital calculation balance.The prior art The advantages of weighing mostly uses balance static greatly, the relative motion mode of crucible decline, this mode is that the zeroing time of balance is short. However since crucible decline acceleration is identical as crucible gravity direction, it is far longer than oneself of crucible so as to cause impact force at contact Weight, i.e., for sensibility reciprocal precision is the digital calculation balance of 0.1mg, huge impact force leads to the data wave of balance during weighing The dynamic time is too long, weighs inefficient.Therefore, the weighing robot for designing a kind of significant decrease balance data fluctuations time has Very useful value.
Summary of the invention
Present invention technical problem to be solved is: for technical problem of the existing technology, the present invention provides a kind of high Precision weighs solid powder, reduces impact force at contact by digital calculation balance elevating movement, the significant shortening balance data fluctuations time The high-precision of low power impact force quickly weigh robot.
To solve the above-mentioned problems, solution proposed by the present invention are as follows: a kind of high-precision of low power impact force quickly claims Robot is measured, it includes that the linear motion that is installed on U-shaped frame is secondary and ball screw assembly, digital calculation balance and is placed on crucible tongs Crucible, the motor being connected with the ball screw assembly, is placed with solid powder to be weighed in the crucible.
The linear motion is secondary and the ball screw assembly, is along vertical direction installed parallel;The secondary linear motion includes straight Line guide rail and sliding block, the ball screw assembly, include lower end pass through bearing be installed in lead screw on lower bracket and with the lead screw phase The nut of cooperation.
The balance base is equipped with the groove of the bigger about described digital calculation balance bed-plate dimension, is installed in and subtracts in the groove Shake spring, and the sensibility reciprocal precision of the digital calculation balance is 0.1mg, is placed horizontally on the shock-absorbing spring;The digital calculation balance Weighing plate top is installed with weighing bar;The underface that bar is located at crucible is weighed, the crucible tongs are equipped with circular through hole, the earthenware Crucible is placed in the circular through hole.
Further, the rigidity of the shock-absorbing spring is 20~30N/mm.
Further, the circular through hole on the crucible tongs is stepped circular through hole, and upper part Circularhole diameter is slightly less than The maximum outside diameter of the crucible, lower part Circularhole diameter are slightly larger than the minimum diameter of the crucible.
Further, the settable digital calculation balance more than two on the balance base can be set on the crucible tongs Set the crucible identical with the digital calculation balance quantity.
Further, stop at the weighing bar ascending motion to the crucible bottom 0.5mm, then the weighing bar exists The lower jack-up crucible of the elongation strain effect of the shock-absorbing spring makes it completely disengage the crucible tongs.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) a kind of high-precision of low power impact force of the invention quickly weighs robot, is fixed by crucible, and balance rises Relative motion mode implement to weigh, by balance rise acceleration cancel out each other with self gravity, to reduce weighing bar With the impact force at contact of crucible.
(2) a kind of high-precision of low power impact force of the invention quickly weighs robot, is made by the way that shock-absorbing spring is arranged Significant compressive deformation occurs in digital calculation balance uphill process, so that weighing bar stop motion when to touch crucible. It follows that the data fluctuations time is aobvious during there is lesser impact force at contact, balance to weigh for weighing robot of the invention It writes and reduces, weigh efficiency and significantly improve.
Detailed description of the invention
Fig. 1 is that a kind of high-precision of low power impact force of the invention quickly weighs the principle schematic diagram of robot.
In figure, 1-U-shaped frame, 20-linear guides, 21-sliding blocks, 30-lead screws, 31-nuts, 32-lower brackets, 33- Motor rack, 34-motors, 4-balance bases, 5-digital calculation balances, 6-shock-absorbing springs, 7-weigh bar, 8-crucible tongs, 9-earthenwares Crucible.
Specific embodiment
Below with reference to the drawings and specific embodiments, invention is further described in detail.
Shown in Figure 1, a kind of high-precision of low power impact force of the invention quickly weighs robot, including is installed in U Linear motion pair and ball screw assembly, digital calculation balance 5 and the crucible 9 being placed on crucible tongs 8 in type frame 1, with ball-screw Pair connected motor 34 is placed with solid powder to be weighed in crucible 9.
Shown in Figure 1, linear motion is secondary and ball screw assembly, is along vertical direction installed parallel;Secondary linear motion includes straight Line guide rail 20 and sliding block 21, ball screw assembly, include lower end pass through bearing be installed in lead screw 30 on lower bracket 32 and with lead screw 30 The nut 31 matched;
Shown in Figure 1, balance base 4 is equipped with the groove of bigger 5 bed-plate dimension of about digital calculation balance, is installed in groove The sensibility reciprocal precision of shock-absorbing spring 6, digital calculation balance 5 is 0.1mg, is placed horizontally on shock-absorbing spring 6;The weighing plate of digital calculation balance 5 Top, which is installed with, weighs bar 7;The underface that bar 7 is located at crucible 9 is weighed, crucible tongs 8 are equipped with circular through hole, and crucible 9 is placed in In circular through hole.
Preferably, the rigidity of shock-absorbing spring 6 is 20~30N/mm.
Preferably, the circular through hole on crucible tongs 8 is stepped circular through hole, upper part Circularhole diameter is slightly less than earthenware The maximum outside diameter of crucible 9, lower part Circularhole diameter are slightly larger than the minimum diameter of crucible 9.
Preferably, settable digital calculation balance 5 more than two on balance base 4, on crucible tongs 8 it is settable with it is digital The identical crucible 9 of 5 quantity of balance.
Preferably, motor 34 drives lead screw 30 to rotate forward, and then balance base 4 and digital calculation balance 5 is driven to rise Movement, during ascending motion, compressive deformation occurs digital calculation balance 5 for shock-absorbing spring 6, and compression deformation is 3mm or so;Claim Stop at 7 ascending motion of gauge rod to 9 bottom 0.5mm of crucible, weighs bar 7 and then pushed up under the elongation strain effect of shock-absorbing spring 6 Playing crucible 9 makes it completely disengage crucible tongs 8.
The course of work and working principle: firstly, the crucible 9 equipped with solid particle to be weighed to be placed in the circle of crucible tongs 8 Kong Zhong;Then, motor 34 drives lead screw 30 to rotate forward, and then drives balance base 4, digital calculation balance 5 and weigh bar 7 and rise, Stop at the corresponding 9 bottom 0.5mm of crucible of distance from top of bar 7 until weighing;In 5 uphill process of digital calculation balance, shock-absorbing spring 6 is sent out Raw compressive deformation, deflection are 3mm or so;After motor 34 stops, shock-absorbing spring 6 is restored to initial length, to weigh bar 7 Crucible 9 is jacked up, so that crucible 9 is completely disengaged crucible tongs 8 and prepares to weigh;Effect and digital calculation balance 5 due to shock-absorbing spring 6 is upward The acceleration of movement is cancelled out each other with its own gravity, and weighing bar 7 and jacking up the impact force at contact of crucible 9 is only 9 gravity of crucible 2 times or so, impact force at contact when compared to balance static crucible decline is 5 times or more of crucible gravity, therefore digital calculation balance 5 The data fluctuations time during weighing significantly reduces, so as to shorten the weighing time.

Claims (4)

1. a kind of high-precision of low power impact force quickly weighs robot, including the linear motion pair that is installed on U-shaped frame (1) and Ball screw assembly, digital calculation balance (5) and the crucible (9) being placed on crucible tongs (8), the motor being connected with the ball screw assembly, (34), solid powder to be weighed is placed in the crucible (9), it is characterised in that:
The linear motion is secondary and the ball screw assembly, is along vertical direction installed parallel;The linear motion is secondary to lead including straight line Rail (20) and sliding block (21), the ball screw assembly, include lower end pass through bearing be installed in lead screw (30) on lower bracket (32) and The nut (31) matched with the lead screw (30);
The balance base (4) is equipped with the groove of bigger about described digital calculation balance (5) bed-plate dimension, is installed in the groove The sensibility reciprocal precision of shock-absorbing spring (6), the digital calculation balance (5) is 0.1mg, is placed horizontally on the shock-absorbing spring (6);It is described The weighing plate top of digital calculation balance (5), which is installed with, weighs bar (7);Weigh the underface that bar (7) are located at crucible (9), the crucible Disk (8) is equipped with circular through hole, and the crucible (9) is placed in the circular through hole;Weighing bar (7) ascending motion is to institute It states and stops at crucible (9) bottom 0.5mm;In 5 uphill process of digital calculation balance, compressive deformation occurs for shock-absorbing spring 6, and deflection is 3mm or so;Weighing bar (7), which then jacks up the crucible (9) under the elongation strain effect of the shock-absorbing spring (6), makes it Completely disengage the crucible tongs (8).
2. a kind of high-precision of low power impact force according to claim 1 quickly weighs robot, it is characterised in that: described The rigidity of shock-absorbing spring (6) is 20~30N/mm.
3. a kind of high-precision of low power impact force according to claim 1 quickly weighs robot, it is characterised in that: described Circular through hole on crucible tongs (8) is stepped circular through hole, and the maximum that upper part Circularhole diameter is slightly less than the crucible (9) is outer Diameter, lower part Circularhole diameter are slightly larger than the minimum diameter of the crucible (9).
4. a kind of high-precision of low power impact force according to claim 1 quickly weighs robot, it is characterised in that: described The settable digital calculation balance (5) more than two on balance base (4), it is settable with the number on the crucible tongs (8) The identical crucible (9) of balance (5) quantity.
CN201711295702.7A 2017-12-08 2017-12-08 A kind of high-precision of low power impact force quickly weighs robot Active CN108151837B (en)

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CN108151837B true CN108151837B (en) 2019-11-12

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105352570A (en) * 2015-10-22 2016-02-24 常州大学 Double-acting mode single-crucible weighing device for Eschka sulfur detector
CN105353074A (en) * 2015-10-24 2016-02-24 常州大学 Balance elevating circumferential parallel weighing apparatus used for Eschka sulphur meter
CN205120222U (en) * 2015-11-18 2016-03-30 嘉兴职业技术学院 High accuracy weighing device for electronic commerce
CN106840353A (en) * 2017-01-19 2017-06-13 宁波良和工程检测技术有限公司 A kind of electronic platform scale and its Weighing method
CN106932079A (en) * 2017-03-09 2017-07-07 谢博 A kind of electronic scale of long service life

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JP2958739B2 (en) * 1994-05-18 1999-10-06 株式会社ユタカ Gas cylinder gas level detector
JP3884828B2 (en) * 1997-07-15 2007-02-21 本田技研工業株式会社 Method for determining the heating state of a metal billet
DE502004006067D1 (en) * 2004-12-23 2008-03-13 Mettler Toledo Gmbh Calibration weight arrangement for an electronic balance
CN201852757U (en) * 2010-09-16 2011-06-01 南京中宇自动化有限公司 Measuring equipment for carbon residue in flying ash with low running noise and high transposition precision
CN105890728B (en) * 2016-06-21 2018-08-10 苏州群业建筑工程有限公司 A kind of pitch heating weighing instrument
CN206638324U (en) * 2017-04-05 2017-11-14 重庆市腾龙磨料磨具有限公司 Emery wheel gravel quantitative weighing device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105352570A (en) * 2015-10-22 2016-02-24 常州大学 Double-acting mode single-crucible weighing device for Eschka sulfur detector
CN105353074A (en) * 2015-10-24 2016-02-24 常州大学 Balance elevating circumferential parallel weighing apparatus used for Eschka sulphur meter
CN205120222U (en) * 2015-11-18 2016-03-30 嘉兴职业技术学院 High accuracy weighing device for electronic commerce
CN106840353A (en) * 2017-01-19 2017-06-13 宁波良和工程检测技术有限公司 A kind of electronic platform scale and its Weighing method
CN106932079A (en) * 2017-03-09 2017-07-07 谢博 A kind of electronic scale of long service life

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