WO2018036443A1

WO2018036443A1 - Material grabbing method, apparatus and system, and dynamometry apparatus and material case

Info

Publication number: WO2018036443A1
Application number: PCT/CN2017/098243
Authority: WO
Inventors: 陈胜辉
Original assignee: 陈胜辉
Priority date: 2016-08-26
Filing date: 2017-08-21
Publication date: 2018-03-01

Abstract

Disclosed are a material grabbing method, apparatus and system, and a dynamometry apparatus and a material case. The method involves acquiring a position and orientation of a material case (19), and determining a grabbing direction from grabbing information according to the position and orientation of the material case (19); acquiring a grabbing point, a grabbing force, a grabbing size, and a grabbing depth from the grabbing information; and grabbing material (22) according to the grabbing information. The material case (19) having position feature information and grabbing information about the material (22) to be grabbed is in contact with the material (22) to be grabbed by means of a known relative position relationship, making a grabbing apparatus (24) able to simultaneously locate and grab objects of different mass, shapes and sizes, greatly increasing adaptability of the material grabbing system with regard to different types of material to be grabbed.

Description

Material grabbing method, device and system, and force measuring device and material box

Technical field

The invention relates to the field of warehousing and material sorting. The invention relates to a method, a device and a system for material grabbing, and a force measuring device and a material box.

Background technique

A sensor is a device or system made of sensitive components that can be used to detect changes applied externally. The energy applied by the object to be measured can be directly felt by the sensitive component, and then responded by deformation or physical property change, and then the electrical signal or other available signal converted by the outputter. The sensor device or system is usually composed of a sensitive component, a conversion unit, and a measurement circuit.

Pressure sensors can be divided into mechanical, capacitive, piezoelectric, strain, fiber, Hall effect and piezoresistive pressure sensors according to the difference of working principle.

A mechanical pressure sensor is a force sensor that converts an external force into a displacement and then converts the displacement into an electrical signal.

Due to the small amount of deformation of the sensitive unit, the measurement accuracy of the conventional mechanical force sensor is generally low.

The material turnover box can be used in various warehouses, production sites and other occasions. Today, logistics management is increasingly valued by the majority of enterprises. The material turnover box helps to realize the generalization and integrated management of logistics containers. It is production and circulation. The must-have for enterprises to carry out modern logistics management.

The material turnover box is usually used to realize different materials, but the customization cost is high and the versatility is not strong; the customized inner tray is suitable for the separation and positioning of a single type or a small amount of materials.

The existing methods for grasping materials to be grasped mainly include three types: pneumatic suction, electromagnetic suction, and mechanical grasping. Among them, the pneumatic suction target has higher flatness requirement for the surface flatness of the object; the magnetic attraction method is magnetic to the object. There is a high demand.

The existing grasping method mainly focuses on the visual system directly recognizing the shape of the object, and grasping the object through various grasping methods, which has high requirements on the regularity and consistency of the shape of the object.

The existing grasping method can capture the marked object according to the mark, and the size of the mark, the shape of the mark, the color and the like can only be marked for one type of object, and the same mark is difficult for objects of different shapes. For example, the pencil is marked and grabbed with the barrel of oil.

In summary, the existing grasping method has high recognition and success rate for grasping single shape and single type of object, but if it is necessary to simultaneously grasp objects of various sizes, shapes and qualities, Its ability to capture is very limit.

Summary of the invention

A material grabbing method, characterized in that:

Obtain the pose of the material box, and determine the grab direction of the grab information according to the position of the material box;

Get the grab point, grab strength, grab size, and grab depth in the crawl information;

Grab the material according to the grab information.

Further, obtaining the position of the material box includes obtaining the deflection amount of the material box;

A gripping direction of the gripping information is obtained according to the amount of deflection.

Further, the material bin includes a first feature, and the deflection amount of the material bin is obtained according to the first feature.

Further, the position of the material bin is replaced by the posture of the material, and the grab direction of the grab information is determined according to the pose of the material;

Further, the material in the material box includes a third feature, the third feature has a directionality, and the grasping direction is determined by the third feature.

Further, the material information is obtained, and the crawling strength, the crawling depth, and the grab size of the crawling information are obtained according to the material information.

Further, identifying a second feature disposed on the material bin;

And analyzing the second feature to obtain an identity of the material bin included in the second feature, where the identity identifier is associated with the material information;

Get the grab strength, grab size, and grab depth based on the material information.

Further, the material includes a third feature, and the third feature is analyzed to obtain the grab point information included in the third feature.

Further, obtaining the position of the material box includes obtaining the position of the material box, obtaining the position information of the material box according to the first feature, and obtaining a relative positional relationship between the material box and the material in the material box, according to the position information of the material box And the relative positional relationship determines the grab point.

Further, identifying a second feature disposed on the material bin;

Further, the position of the material bin is obtained by the actuator to adjust the material box to a fixed posture.

Further, obtaining the material box information, the relative position relationship between the material box and the material in the material box, and the material information;

Obtaining a capture point of the captured information according to the relative position relationship, the material box information, and the material information;

According to the material information, the crawling strength, the grab size, and the grab depth of the crawl information are obtained.

Further, identifying a second feature disposed on the material bin;

Analyzing the second feature to obtain a relative position relationship information of the material box and the material included in the second feature, and material information;

The relative position relationship information and the material information and the position information of the material box are calculated to obtain the grab point of the material capture information.

Further, identifying a second feature disposed on the material bin;

According to the second feature, the grab strength, the grab size, and the grab depth are obtained.

A material grasping device, comprising: a grasping direction obtaining module, configured to acquire a posture of the material box, and determine a grasping direction of the grabbing information according to the position and posture of the material box;

a grab point acquisition module for acquiring a grab point;

Grab the strength acquisition module for obtaining the crawling strength;

Grab the size acquisition module for obtaining the grab size;

Grab the depth acquisition module to get the crawl depth.

Further, the grasping direction obtaining module includes: a deflection amount unit, configured to obtain a deflection amount of the material box according to the first feature, wherein the first feature is disposed on the material box;

And a direction determining unit configured to determine a grab direction of the grab information according to the amount of the deflected.

Further, the grasping device further includes: a material box information module, configured to acquire information of the material box, and determine material information associated with the material box information according to the information of the material box;

The material box information module includes a material box information acquiring unit, configured to acquire an identity identifier of the material box included in the second feature, where the identity identifier corresponds to the material box information; and the second feature is disposed on the material box;

The material box information module includes a material information acquiring unit, and determines material information associated with the material box information according to the identity identifier;

The grab strength obtaining module obtains the crawling strength according to the material information;

The grab size acquisition module acquires a grab size according to the material information;

The grab depth acquisition module obtains a crawl depth according to the material information.

Further, the capture point acquisition module includes: a point acquisition unit, and acquiring a capture point information according to the third feature The third feature is disposed on the material, and the third feature includes the grab point information.

Further, the capture point acquisition module includes:

Positioning unit, obtaining position information of the material box according to the first feature, the first feature being disposed on the material box;

The point obtaining unit determines the grab point according to the position information of the material box.

Further, the capture direction module includes:

The direction obtaining unit, the grab direction acquiring module determines the grab direction information by using the third feature, and the third feature is set on the material to determine the grab direction.

Further, the grasping device further includes:

A pose adjustment module that controls the actuator to adjust the material bin to a fixed pose.

Further, the grasping device further includes:

Obtaining a module, obtaining a relative position relationship between the material box and the material in the material box, and material information;

The grab point obtaining module obtains a grab point of the grab information according to the relative position relationship, the position information of the material box, and the material information;

Grab the strength acquisition module, and obtain the crawling strength of the crawl information according to the material information;

Grab the size acquisition module, and obtain the grab size of the grab information according to the material information;

Grab the depth acquisition module and obtain the crawl depth of the crawl information according to the material information.

Further, the obtaining module includes:

a relative position relationship unit, configured to obtain a relative position relationship information of the material box and the material included in the second feature, and material information;

a material information unit, configured to obtain material information included in the second feature;

Further, the crawling strength obtaining module acquires the crawling strength included in the second feature;

Grab the size acquisition module to obtain the grab size included in the second feature;

Grab the depth acquisition module to obtain the crawl depth included in the second feature.

A material grabbing system characterized by:

The utility model comprises a gripping device, a storage controller, a detecting device, a material box and materials in the material box;

The storage controller is configured to store an instruction, and control the capture device and the detection device to execute the instruction; the instruction includes: acquiring a pose of the material box, and determining a capture direction of the capture information according to the position of the material box;

Get the grab point, grab strength, grab size, and grab depth of the crawl information;

Grab the material according to the grab information.

A material turnover box, characterized in that:

The utility model comprises a box body, wherein the box body comprises a box side surface and a box bottom, and the box side surface and the box bottom form a hollow coverless structure.

The inner space of the box is divided into a plurality of sub-spaces by the inner tray disposed in parallel in the box space. The inner bracket is fixed by an inner positioning mechanism for determining the position of the inner tray.

Further, the inner space of the box has a first inner layer and a second inner layer, and the first inner layer and the second inner layer do not interfere with each other and the first inner layer and the second inner layer The inner support of the support layer has a certain angle.

Further, the inner trays of the first inner tray layer and the second inner tray layer are respectively disposed in parallel.

Further, the inner positioning mechanism is a positioning hole, and the positioning hole penetrates the side of the box, and each positioning hole has a certain position.

Further, the positioning hole is composed of at least two rows of horizontally parallel holes of the same number, and the corresponding holes of the upper and lower rows are distributed on the same straight line.

Further, the inner tray positioning mechanism includes a positioning slot and a corresponding positioning hole disposed in the positioning slot, the positioning holes are on the same horizontal line, and each positioning hole has a certain position.

Further, the inner positioning mechanism is a positioning slot, and the distance between two adjacent positioning slots on the side of the same box is determined.

Further, the spacing of the adjacent positioning holes on the same horizontal line is fixed, and the position can be directly read by a scale table disposed below the positioning hole and corresponding to the positioning hole, or the position is determined by the spacing of the known positioning holes. Calculated.

Further, the inner bracket has a protruding portion corresponding to the positioning hole, and the protruding portion of the inner bracket is embedded in the positioning hole.

A force measuring device comprising: a deformation portion deformed by a pressure and a motion conversion portion that converts the deformation into a rotational displacement, the deformation portion being coupled to the motion conversion portion, the motion conversion portion being coupled to the encoder.

Further, the deformation portion includes a force receiving surface, a guiding shaft, and a spring, the force receiving surface is located at one end of the guiding shaft, the spring is defined between the blocking piece and the force receiving surface of the guiding shaft, and the other end of the guiding shaft is connected and converted. unit.

Further, the motion converting portion includes a rack coupled to the strained portion, and a gear set coupled to the rack, the gear set coupled to the encoder, the gear set including at least one gear.

Further, the rack is fixed to the other end of the guide shaft, and the rack is axially parallel to the guide shaft.

Further, the motion converting portion includes a lead screw connected to the deformation portion, and a screw nut coaxially mounted on the lead screw, and the lead screw nut is coaxially connected to the encoder.

Further, the lead screw nut has a tooth groove, the tooth groove is connected to the encoder through a gear set, and the gear set includes at least one gear.

Further, the spring is a linear spring.

The invention has the beneficial effects that the present invention has a material box with position feature information and material to be grasped and information to be grasped. The grasping materials are connected by the known relative positional relationship, so that the grasping device can simultaneously position and grasp objects of different quality, shape and size, thereby greatly improving the adaptability of the material grasping system.

When the material to be grasped is plural, and the grasping property of the material to be grasped is within a certain threshold range, different relative positions of the material to be grasped and the material box are used to distinguish different materials to be grasped. The crawling properties include: grabbing power, and grabbing dimensions.

The invention adopts a method for indirectly identifying the position of the material to be grasped without directly identifying the object to be grasped, and greatly improves the robustness of the machine vision recognition system for position recognition of the object to be grasped.

The invention obtains the material information to be grasped by the second feature, reduces the calculation amount required for real-time identification of the material to be grasped, and improves the grasping rate.

The invention installs a position sensor and a force sensor on the gripping device for feeding back information, forming a closed loop for the grasping process, and improving the adaptability to grasping materials of different qualities and different shapes to be grasped.

After each material to be grasped in the material box of the present invention is grasped, the position of the material to be grasped corresponding to the material box is recorded as being captured; it is not necessary to re-determine the change of the image after each crawling is completed. , reducing the amount of calculation and increasing the grab rate.

The material box of the invention has a fixed spacing positioning hole or a positioning groove to realize the position adjustment of the inner tray, and the same material tray can realize different material positioning and improve the box body. Reuse of utilization and save costs.

A force measuring device according to the present invention combines the reduction ratio of the motion conversion device with a rotary encoder to improve the resolution of the force measuring device.

DRAWINGS

Fig. 1 is a schematic view showing the structure of a seventh embodiment with a gear set.

2 is a schematic view showing the structure of a single gear of the seventh embodiment.

3 is a schematic view showing the structure of a lead screw of the seventh embodiment.

Figure 4 is a schematic view of the sixth embodiment.

Figure 5 is a top view of the material tank.

Figure 6 is a schematic view of the side positioning mechanism.

FIG. 7 is a schematic diagram of Embodiment 1 and Embodiment 2.

Figure 8 is a schematic view of the third embodiment.

Figure 9 is a schematic view showing the adjustment of the material tank posture of the third embodiment.

Detailed ways

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

In the legend: 1 is the force receiving surface; 2 is the guiding shaft; 3 is the spring; 4 is the grating disk; 5 is the reading head; 6 is the rack; 7 is the gear; 8 is the gear shaft; 9 is the large gear; The shaft; 11 is a secondary gear; 12 is a screw nut; 13 is a screw. 14 is a box; 15 is a second inner layer; 16 is a first inner layer; 17 is a positioning mechanism; and 18 is a scale. A is an inner box surface; B is another inner box surface; C is a first inner surface; D is a second inner surface. 19 is a material box; 20 is a second feature; 21 is a first feature; 22 is a material to be grasped; 23 is a limit mechanism; 24 is a grasping device; 25 is a first feature recognition device; 26 is a processing storage device; 27 is a second feature recognition device; 28 is a third feature; 29 is a container space; 30 is an actuator; E is a state before posture adjustment; and F is a state after posture adjustment.

Specifically, the present invention establishes a world coordinate system, a material box plane coordinate system, etc. According to the prior art, coordinates between coordinate systems can be converted to each other. In general, all coordinates are unified to coordinates in the world coordinate system. The method mainly obtains the material grasping information required by the grasping device 24, and the material grabbing information includes a grabbing direction, a grabbing force, a grab depth, a grab size, and a grab point. Specifically, the grasping force is a force required for the grasping device 24 to grasp the material 22; the grab size is the size of the opening when the gripping device 24 grabs the material 22; the grabbing point is the grabbing position The position at which the device 24 grabs the material 22; the grab depth is the height difference between the lowest position of the material grabbing bit and the top of the material grabbing bit when the gripping device 24 grabs the material 22.

Embodiment 1

A material capture method includes the following steps.

Step S101: Obtain the pose of the material box 19, and determine the grab direction and the grab point of the grab information according to the pose of the material box 19.

Wherein, the obtaining the position of the material box 19 includes obtaining the deflection amount of the material box 19. The deflection amount of the material box 19 is a deviation of the material box 19 with respect to a preset position, and the deflection amount of the material box 19 has a corresponding relationship with the grasping direction, and can be calculated according to the deflection amount of the material box 19. Grab the crawl direction in the message.

The position of the material bin 19 in the world coordinate system can be obtained according to existing vision techniques.

The direction to be grasped of the material to be grasped in the material box 19 has a fixed angular relationship with a specific coordinate axis in the plane coordinate system of the material box; the fixed angle relationship establishes the material box 19 and the material 22 to be grasped. Take the relationship between directions. The gripping direction of the material 22 in the material bin 19 is obtained by the amount of deflection.

When the grasping position of the material to be grasped 22 is non-circular, the material to be grasped in the material box 19 has a uniform grasping direction. When the gripping position of the material to be grasped 22 is circular, the gripping direction thereof is uniform without setting.

Specifically, as shown in Figure 7, the material box 19 has a first feature 21;

Identifying the first feature 21 on the plane of the material bin by the first feature 21 identifying device, the first feature in the embodiment 21 calculating a mutual conversion relationship between the material box 19 and the camera coordinate system by using a monocular camera or a binocular camera or a camera module having depth information;

Using the working coordinate system of the gripping device 24 as a world coordinate system;

The first feature recognition device 25 is fixed at a certain fixed position in the world coordinate system, that is, the mutual conversion relationship between the camera coordinate system and the world coordinate system is known;

Using the mutual conversion relationship between the material box 19 and the camera coordinate system, the mutual conversion relationship between the camera coordinate system and the world coordinate system, the mutual conversion relationship between the material box coordinate system and the world coordinate system is calculated; 19 location information.

Thereby, the amount of rotation between the coordinate axes in the material plane coordinate system having a fixed angular relationship with the material to be grasped 22 relative to the corresponding coordinate axes in the world coordinate system can be obtained. The amount of rotation is recorded as a deflection amount, and the amount of deflection has a correspondence relationship with the gripping direction. In a specific implementation, the value of the amount of deflection is a value of the gripping direction.

Step S102: acquiring information of the material box 19, and determining material information associated with the material box information according to the information of the material box 19;

Obtaining the crawling strength, the crawling depth, and the grabbing size of the crawling information according to the material information.

Specifically, the following steps are included.

Step S1021: Identify the second feature 20 disposed on the material bin 19.

The second feature 20 is disposed on the surface of the material bin 19 or placed in the material bin 19 for easy identification. The second feature 20 may be feature information that can be identified by a two-dimensional code, a one-dimensional code, a radio frequency signal, or the like.

Step S1022: The second feature 20 is analyzed to obtain the identity of the material bin 19 included in the second feature 20, and the material 22 information associated with the material bin information is determined according to the information of the material bin 19.

The identity of the material bin 19 has a corresponding relationship with the materials in the material bin 19. As shown in FIG. 7 , by identifying the second feature 20 , the identity of the second feature 20 corresponding to the material bin 19 is confirmed, and the material in the material bin 19 is a known material 22 , that is, the material information obtained includes the size and material of the material 22 . The placement height of 22, the quality of the material 22, the friction coefficient of the contact surface of the material 22 with the gripping device 24, the gripping force correction coefficient, the amount of the material 22 to be grasped in the material box 19, and the like.

Step S1023: Obtain the grab strength, the grab size, and the grab depth corresponding to the material box information.

Specifically, since the material in the material box 19 corresponding to the identity identifier is the known material 22, the crawling force, the grab size, and the grab depth in the material crawling information required to capture the known material 22 are captured. Corresponding to the material 22, the grabbing strength, the grab size, and the grab depth of the grab information are obtained.

Step S103: Acquire the grab point information.

A third feature 28 is provided on the surface of the material within the material bin 19, and by identifying the third feature 28, the grab point information associated with the third feature 28 is obtained. Specifically, the recognition calculation obtains the coordinates in the world coordinate system where the third feature 28 is located, and the coordinates of the third feature 28 have a corresponding relationship with the grab point, thereby determining the coordinates of the grab point in the world coordinate system, that is, Get the grab point information.

In an embodiment, the grasping direction may also be obtained by the third feature 28, the third feature 28 has a directionality, and the direction of the third feature 28 has a corresponding relationship with the grasping direction of the grab information. The direction of capture can be obtained by calculation.

Further, when the third feature 28 has directivity, a uniform grasping direction is not required;

The gripping device 24 grabs the material 22 according to the gripping force, the gripping size, the gripping point, the gripping depth, and the gripping direction.

Embodiment 2

A material capture method includes the following steps.

Step S201: Obtain the pose of the material box 19, and determine the grab direction and the grab point of the grab information according to the pose of the material box 19.

Wherein, the obtaining the position of the material box 19 includes obtaining the deflection amount of the material box 19. The deflection amount of the material box 19 is a deviation of the material box 19 with respect to a preset position, and the deflection amount of the material box 19 has a corresponding relationship with the grasping direction, and can be calculated according to the deflection amount of the material box 19. Grab the crawl direction in the message. The method is the same as that of the first embodiment and will not be described again.

The deflection amount has a corresponding relationship with the grasping direction. In a specific implementation, the value of the deflection amount is a value of the grasping direction. The material to be grasped 22 in the material tank 19 has a uniform gripping direction.

The obtaining the position of the material box 19 further includes obtaining the position information of the material box 19. The position information of the material bin 19 can also be obtained by the first feature 21.

Step S202: Obtain the relative position relationship between the material box 19 and the material 22 in the material box 19 and the material information;

Obtaining a grab point of the captured information according to the relative positional relationship, the position information of the material box 19, and the material information;

As shown in FIG. 7, the material box 19 is divided into the same or different size of the container space 29 by the limiting mechanism 23, and the limiting mechanism 23 is realized by a partition, an inner tray, a glue or the like.

The container space 29 is used for placing the material 22, and since the relative positional relationship between each container space 29 and the material tank 19 is determined, the material 22 and the material tank 19 in each container space 29 can be obtained according to the prior art. The positional relationship is the relative positional relationship between the material bin 19 and the material 22 in the material bin 19.

The material 22 in the material tank 19 may be of one or more types, and the material information includes the size and material of the material 22. The height of the material 22, the mass of the material 22, the friction coefficient of the contact surface of the material 22 with the gripping device 24, the gripping force correction coefficient, the number of materials 22 to be grasped in the material box 19, and the like.

According to the relative position relationship between the material box 19 and the material 22 in the material box 19, and the material information, the material 22 captures information, and the material 22 capture information includes the grab strength, the grab depth, the grab size, and the grab point. . For example, depending on the size of the material 22, the gripping depth of the gripping mechanism can be calculated. If it is too deep, the material 22 will be damaged, and if it is too shallow, the material 22 cannot be grasped.

Specifically, it includes steps.

Step S2021: Identify the second feature 20 disposed on the material bin 19.

The second feature 20 is disposed on the surface of the material bin 19 or placed in the material bin 19 for easy identification. The fourth feature may be feature information that can be identified by a two-dimensional code, a one-dimensional code, a radio frequency signal, or the like.

Step S2022: The second feature 20 is analyzed to obtain the relative position relationship information of the material box 19 and the material 22 included in the second feature 20 and the material information.

Different from the first embodiment, the second feature 20 further includes information on the relative positional relationship between the material box 19 and the material 22. As shown in FIG. 7, the container box 29 is divided into a container space 29 by the limiting mechanism 23, Thus, the relative position of the container space 29 to the material bin 19 can be uniquely determined, and the relative position information of the container space 29 and the material bin 19 is incorporated into the second feature 20 by the prior art.

Similarly, the container space 29 of the material box 19 is placed with the same material 22, and the material information of the material 22 includes the size of the material 22, the height of the material 22, the mass of the material 22, the material 22 gripping surface and the gripping device 24 The coefficient of friction of the contact surface, the correction coefficient of the gripping force, the amount of the material 22 to be grasped in the material tank 19, and the like, are included in the second feature 20 by the prior art. Therefore, the relative positional relationship information of the material box 19 and the material 22 and the material information can be obtained by analyzing the second feature 20 by the prior art.

Different kinds of materials to be grabbed can be placed in the material box 19 to improve the space utilization rate of the material box.

Step S2023: Calculate the capture point of the material capture information by using the relative position relationship information and the material information and the position information of the material box.

Based on the position information of the material bin 19, it can be calculated that the gripping device 24 needs to be moved to an approximate position in the world coordinate system, for example, to a position above the center of the material bin 19; the gripping device 24 can be moved according to the relative positional relationship information. To a determined position in the world coordinate system, such as the position above the container space 29 of the material bin 19, the grab point information in the grab information can be determined.

Step S2024: Obtain the crawling strength, the grab size, and the grab depth of the crawl information according to the material information.

Further, the grab strength information, the grab size, and the grab depth may be obtained by analyzing the second feature 20.

The material box 19 is filled with the material 22, and the material grabbing information of the grabbing material 22 can be determined in advance. Grab the material 22 The material capture information includes the force, the grab size, and the grab depth. The material capture information of the material 22 can also be included in the second feature 20 by the prior art. The material 22 capture information can be directly obtained by the prior art identification analysis of the second feature 20.

Specifically, the grab strength information and/or the grab size information and/or the grab depth information are obtained by the material information, and the material information includes the size of the material box 19, the size of the material 22, and the placement height of the material 22. , the weight of the material 22, the friction coefficient of the contact surface of the material 22 and the gripping device 24, the grasping force correction coefficient, etc., so each material information has a corresponding material 22 grasping information in the grabbing information, Grab the size and grab the depth.

The gripping device 24 grabs the material 22 based on the material capture information.

Embodiment 3

A material capture method includes the following steps.

Step S301: Obtain the posture of the material box 19, and determine the grasping direction of the grab information according to the posture of the material box 19;

In this embodiment, the material box 19 is moved to a preset posture by the actuator 30, that is, the posture of the material box 19 is obtained, and the material box 19 is adjusted to a fixed posture by the actuator 30. The position of the fixed posture in the world coordinate system is known, thereby determining the posture of the material box 19, and the posture of the material box 19 has a corresponding relationship with the grasping direction, so that the grabbing information can be obtained. direction.

The material to be grasped 22 in the material tank 19 has a uniform gripping direction.

In a particular embodiment, there is an actuator 30 located in a world coordinate system for adjusting the material bin 19 to a fixed position in the world coordinate system, the fixed position in the world The coordinates under the coordinate system are known, so that the coordinates of the material box 19 in the world coordinate system can be obtained, and the arithmetic device acquires the point information to obtain the position information of the material box 19.

The specific steps include.

Step S3011: It is judged whether the material bin 19 is in an adjustable range.

The actuator 30 includes a material bin 19 identification device, such as a visual sensor, a laser sensor, an infrared sensor, a radio frequency sensor, etc., and it can be determined whether the material bin 19 is in an adjustable range of the actuator 30 by using an existing positioning technique or the like.

Step S3012: If yes, the position of the material bin 19 is adjusted to a fixed point by the actuator 30.

The actuator 30 has a telescopic adjustment portion. In the shortened state, the adjustment portion is not in contact with the material box 19, and is in contact with the material box 19 in an extended state, and the adjustment portion has a certain extended posture, the extended posture Can be set by the prior art. When the material box 19 is in the adjustable range, the adjustment portion is adjusted from the shortened state to the extended state, and since the adjustment portion is extended and shortened between the fixed postures, the material box 19 can be moved to a fixed point in the world coordinate system during stretching. Bit.

As shown in FIG. 9, the actuator 30 adjusts the material bin 19 from the original position E to the position F state, which is F. For a known position in the world coordinate system, the scaling of the adjustment portion of the actuator 30 is prior art.

The grabbing strength, the grab size, the grab point, and the grab depth in the remaining crawl information are the same as those in the second embodiment, and will not be described again.

The gripping device 24 grabs the material 22 based on the material information.

The material tank 19 described in the above embodiment is a material tank of at least one specification.

The quantity of the material to be grasped 22 in the material box 19 can be counted in real time. After each material to be grasped 22 in the material box 19 is grasped, the material to be grasped 22 corresponds to the material box 19 The position is recorded as grabbed; after each crawl is completed, it is not necessary to re-determine the change of the image, which reduces the calculation amount and improves the grab rate.

The gripping device 24 has a force sensor and a position sensor, and the force sensor is used to feed back the gripping force information; the position sensor is used to feed back the gripping size information. The closed loop is formed by the feedback grabbing process, which improves the adaptability of grasping objects of different quality and shape.

The method associates the material box with the location feature information and the material to be grasped with the material to be grasped through a known relative position relationship, so that the grasping device can simultaneously locate and grasp objects of different quality, shape and size. , greatly improving the adaptability of the material grabbing system.

Embodiment 4

Both the description and explanation of the method of the invention are applicable to the system of the invention.

A material grabbing system includes a gripping device 24, an arithmetic device, a detecting device, a material bin 19, and a material 22 in the material bin 19.

The detecting device is configured to identify the first, second, and third features, and the type of the detecting device is determined according to the feature type. For example, the first feature 21 is a feature such as a two-dimensional code, a one-dimensional code, and the detecting device is a corresponding scan. The code machine, the feature is a radio frequency signal, the detecting device is a radio frequency signal detector, the feature is an image feature, and the detecting device is a camera.

The material tank 19 is provided with a first feature 21 for obtaining the deflection amount of the material tank 19. When the grasping position of the material to be grasped 22 is non-circular, the material to be grasped in the material box 19 has a uniform grasping direction. When the gripping position of the material to be grasped 22 is circular, the gripping direction thereof is uniform without setting.

The second feature 20 is disposed on the surface of the material bin 19 or placed in the material bin 19 for easy identification. The second feature 20 includes an identification of the material bin 19, and the material associated with the material bin information is determined according to the identity identifier. information. The second feature 20 may be feature information that can be identified by a two-dimensional code, a one-dimensional code, a radio frequency signal, or the like.

As shown in FIG. 7 , the second feature 20 is used to confirm the identity of the material box 19 of the second feature 20, and the information of the material 22 in the material box 19 is obtained. The material information includes: the size of the material 22 and the material 22 The height of the placement, the quality of the material 22, the friction coefficient of the contact surface of the material 22 and the gripping device 24, the gripping force correction coefficient, and the material The quantity of the material to be grasped in the box 19, the size information of the grabbing position of the material to be grabbed 22, and the like.

The size information of the grabbing position of the material to be grabbed 22 includes a gripping depth of the gripping position and an initial gripping width of the gripping position. The grab bit depth is the grab depth, and the grab bit initial grab width is the grab size.

The material grabbing system does not need to re-determine the change of the image after each grab is completed, which reduces the calculation amount and improves the grab rate.

According to the quality of the material to be grasped 22 in the information of the material to be grasped 22, the friction coefficient of the surface to be grasped of the material to be grasped 22 and the contact surface of the gripping device 24, the theoretical grasping unit of the material to be grasped 22 is calculated. The value of the required gripping force F1;

Based on the systemic factors such as the mass error of the material to be grabbed 22, the mechanical mechanism error, and the position of the center of gravity of the material to be grabbed 22, the actual gripping force needs to increase the correction coefficient, thereby obtaining the grip required for the material 22 to be grabbed. Take force F2.

A third feature 28 is provided in the material surface of the material bin 19, and by identifying and analyzing the third feature 28, the grab point information associated with the third feature 28 is obtained. Specifically, the recognition calculation obtains the coordinates in the world coordinate system where the third feature 28 is located, and the coordinates of the third feature 28 have a corresponding relationship with the grab point, thereby determining the coordinates of the grab point in the world coordinate system, that is, Get the grab point information.

Further, the grasping direction may also be obtained by the third feature 28, the third feature 28 has directionality, and the direction of the third feature 28 has a corresponding relationship with the grasping direction of the grab information, and the calculation may be Get the direction of the grab.

Further, when the third feature 28 has directivity, a uniform direction to be grasped is not required.

In another embodiment, the second feature 20 further includes a relative positional relationship between the material bin 19 and the material 22 in the material bin 19 and material information; and the relative position relationship information and the material information and the position information of the material box 19 are calculated and obtained. The material 22 grabs the grab point of the information.

Further, the grasping force, the grab size, and the grab depth may be obtained by analyzing the second feature 20.

In another embodiment, the material bin 19 is moved to a predetermined posture by the actuator 30, that is, the posture of the material bin 19 is obtained, and the material tank 19 is adjusted to a fixed posture by the actuator 30. The coordinates of the fixed position in the world coordinate system are known, thereby determining the posture of the material box 19, and the posture of the material box 19 has a corresponding relationship with the grasping direction, so that the grasping direction in the grab information can be obtained.

Embodiment 5

A grasping device comprising:

Grab the direction acquisition module, obtain the position of the material box, and determine the grab direction of the grab information according to the position of the material box;

Grab the point acquisition module to obtain the capture point information;

Grab the strength acquisition module to obtain the crawling strength information;

Grab the size acquisition module to obtain the grab size information;

Grab the depth acquisition module to obtain the crawl depth information;

The grab direction obtaining module acquires the pose of the material box, including obtaining the deflection amount of the material box; and obtaining the grab direction of the grab information according to the deflection amount.

Specifically, the posture of the material box includes a deflection amount of the material box, and the capture direction acquisition module includes:

The deflection amount unit obtains the deflection amount of the material box according to the first feature, and the first feature is disposed on the material box;

And a direction determining unit configured to determine a grab direction of the grab information according to the amount of the deflected. Therefore, the grasping direction acquiring module may determine the grabbing direction of the grab information according to the amount of the deflecting.

Specifically, the capture point acquisition module includes a point acquisition unit, and the point acquisition unit acquires the capture point information according to the third feature, the third feature is set on the material, and the third feature includes Grab point information.

In another embodiment, the gripping device of the present invention includes a material information module for obtaining information of the material tank, and determining material information associated with the material tank information according to the information of the material tank.

The material information module includes:

a material box information obtaining unit, configured to acquire an identity of the material box included in the second feature, where the identity identifier corresponds to the material box information; and the second feature is disposed on the material box;

The material information obtaining unit determines the material information associated with the material box information according to the material box information;

The capture point acquisition module includes a location unit, and obtains location information of the material according to the first feature, the capture point acquisition module determines a capture point according to the location information of the material.

In another embodiment, the grab direction module includes a direction acquiring unit, and the grab direction acquiring module determines the grab direction information by using the third feature, the third feature is set on the material, and the grab direction is determined. .

In another embodiment, the grasping device includes a posture adjustment module, and the posture adjustment module adjusts the material box to a fixed posture by an actuator, the fixed posture has a certain coordinate, and thus Determine the position of the material box, grab the direction to obtain the module, and obtain the position of the material box according to the fixed position.

In another embodiment, the grasping device includes an obtaining module, and acquires a relative position relationship between the material box and the material in the material box and material information; the grab point acquiring module, according to the relative position relationship, The position information of the material box and the material information, the capture point of the capture information is obtained; the capture strength acquisition module obtains the material information according to the material Grab the crawling power of the information; the grab size information obtaining module acquires the grab size of the grab information according to the material information; the grab depth acquisition module obtains the grab depth information of the grab information according to the material information.

Specifically, the obtaining module includes:

The relative positional relationship unit identifies a second feature disposed on the material bin; and the second feature is configured to obtain a relative positional relationship information of the material bin and the material included in the second feature, and material information.

a material information unit, identifying a second feature disposed on the material bin; analyzing material information included in the second feature;

Further, in another embodiment, the grab strength acquisition module identifies the second feature set on the material box to obtain the grab strength information included in the second feature; the grab size acquisition module identifies the set on the material box The second feature 20 acquires the grab size information included in the second feature; the grab depth acquisition module identifies the second feature 20 disposed on the material bin to obtain the crawl depth information included in the second feature.

Embodiment 6

The material box of the first embodiment to the fifth embodiment, the material box comprises a box body, the box body comprises a box surface and a box bottom, the box surface comprises at least three, and the box surface comprises four box surfaces, which is the first box surface, The second box surface, the third box surface, and the fourth box surface are enclosed in a rectangular shape, and the box surface is perpendicular to the bottom of the box.

The inner space of the box is divided into a plurality of sub-spaces by the inner tray disposed in parallel in the box space. The inner tray is fixed by an inner tray positioning mechanism for determining the position of the inner tray.

Further, the inner space of the box has a first inner layer and a second inner layer, and the first inner layer and the second inner layer do not interfere with each other and the first inner layer and the second inner layer The inner tray of the carrier layer has an angle, and the first inner tray layer and the second inner tray layer respectively have inner trays arranged in parallel, and the hollow space is divided into several sub-spaces. As shown in FIG. 5 , one of the sub-spaces is a four-sided structure surrounded by the inner side surface A, the inner side surface B, the first inner side surface C and the second inner side surface D, and the four-sided structure can be fixedly located on the four-sided structure. The inner material; the four-sided structure may be composed of a side of the box and the side of the first inner layer and the second inner layer; the four-sided structure may also be composed of two inner sides and a second side of the first inner layer The inner side of the inner layer consists of two inner sides.

Specifically, the inner positioning mechanism is a positioning hole, and the positioning hole penetrates the side of the box, and the positioning hole is composed of at least two rows of horizontally parallel and the same number of holes. As shown in FIG. 6 , among the two rows of holes, the corresponding holes of the upper and lower rows are distributed on the same straight line for fixing the same inner support, and the spacing of the positioning holes on the same horizontal line is fixed, and each positioning hole has a certain position. The position can be directly read by a scale table disposed on the outer side of the box corresponding to the positioning hole and disposed under the positioning hole, or the position is calculated by the distance of the known positioning hole; the inner tray has the upper and lower sides The corresponding holes of the row holes are respectively arranged, and when the inner bracket is installed in the box, the protruding portion of the inner bracket is embedded in the positioning hole to achieve the function of fixing the inner bracket. The circular hole can be replaced by a rectangular hole or a shaped hole.

Specifically, the inner positioning mechanism includes a positioning slot and a corresponding positioning hole disposed in the positioning slot, the positioning holes are on the same horizontal line, and each positioning hole has a certain position, and the position can be set in the box The scale outside the body is directly read from the scale corresponding to the positioning hole, the scale is disposed below the positioning hole, or the position is calculated by the spacing of the known positioning holes; the inner tray has a convex corresponding to the positioning hole When the inner part is installed in the box, the protruding part of the inner part is embedded in the positioning hole to achieve the function of fixing the inner support.

Example 7

For the determination of the grasping force of the first embodiment to the fifth embodiment, the force of the grasping is measured by the force measuring device in the embodiment.

The force measuring device includes a deformation portion that is deformed by pressure and a motion conversion portion that converts the deformation into a rotational displacement, and the deformation portion is coupled to the motion conversion portion, and the motion conversion portion is coupled to the encoder.

As shown in Figure 1. The force receiving surface 1 is fixedly connected with the guiding shaft 2; the spring 3 is coaxially mounted with the guiding shaft 2; the moving direction of the rack 6 is parallel to the axial direction of the guiding shaft 2; the gear 7 is engaged with the rack 6; the large gear 9 is the same as the gear 7 The shaft is fixedly mounted on the gear shaft 8; the secondary gear 11 is mounted coaxially with the grating disk 4 and on the output shaft 10; the grating disk 4 is mounted in the nip between the read head 5, and the reading head 5 records the amount of rotation of the grating disk. The specific embodiment is as follows.

(1) The external force F is applied to the force receiving surface 1 perpendicular to the direction in which the spring is deformed. The spring 3 is deformed; the guide shaft 2 is fixedly coupled to the force receiving surface 1, so that the guide shaft 2 is linearly displaced; the rack 6 is fixedly coupled to the guide shaft 2, or the cogging is machined to the guide shaft 2; the rack 6 It is fixed to the other end of the guide shaft 2, and the rack 6 is axially parallel to the guide shaft 2.

(2) The linear displacement of the guide shaft 2 is converted into the amount of rotation of the gear 7 by the mechanical unit of the rack 7 of the gear 7; the relationship between the linear displacement amount and the amount of rotation is as shown in the equation (1-1):

Where: Δx is the shape variable of the spring; Δθ is the amount of rotation of the gear; and R is the radius of the gear.

(3) The large gear 9 is coaxially mounted with the gear 7, and the large gear 9 and the secondary gear 11 mesh with each other. When the gear 7 rotates, the large gear 9 simultaneously drives the secondary gear 11 to rotate, and the output shaft 10 is identical to the secondary gear 11 Shaft mounting.

(4) The grating disk 4 is mounted coaxially with the secondary gear 11, and the reading head 5 converts the amount of rotation of the grating disk 4 into the number of pulses of the electrical signal.

(5) As shown in Fig. 2, the gear 7 can also be mounted coaxially with the grating disk 4 via the gear shaft 8, and the reading head 5 converts the amount of rotation of the grating disk 4 into the number of pulses of the electric signal.

(6) The gear set of the large gear 9 and the secondary gear 11 can also be replaced with a transmission device such as a pulley and a synchronous pulley to achieve the purpose of amplifying the rotational movement.

(7) After the above process, the external force F causes the shape variable of the spring 3 to be converted into the number of pulses of the electric signal. Force measuring device The tiny spring-shaped displacement amount is converted into a large amount of rotation and counted by a rotary encoder. Improved measurement resolution and accuracy. The relationship between the encoder record data and the spring-shaped variable is (1-2):

Where: M is the reduction ratio of the gear set; N is the number of lines of the grating disk; R is the pitch radius of the gear; Δx is the shape variable of the spring, and the integer part of S is the value read by the read head.

The shape variable is Δx, the reduction ratio of the transmission is 3:1, and the number of lines of the grating disk is 400. The shape variable Δx can be subdivided into 1200 copies, and the resolution of the reading will be increased by several orders of magnitude.

In another embodiment, the force measuring device is as shown in FIG. The force receiving surface 1 is fixedly connected with the guiding shaft 2; the spring 3 is coaxially mounted with the guiding shaft 2; the lead screw 13 is coaxial with the guiding shaft 2, and the lead screw 13 is fixedly connected with the guiding shaft 2; the screw nut 12 and the lead screw 13 are The shaft is mounted; the grating disk 4 is mounted coaxially with the spindle nut 12, the grating disk 4 is fixed to the screw nut; the grating disk 4 is mounted in the nip between the reading head 5, and the reading head 5 records the amount of rotation of the grating disk 4. The specific embodiment is as follows.

(1) The external force F is applied to the force receiving surface 1 perpendicular to the direction in which the spring is deformed. The spring 3 is deformed; the guide shaft 2 is fixedly coupled to the force receiving surface 1, so that the guide shaft 2 is linearly displaced; the lead screw 13 is coaxially fixedly coupled to the guide shaft 2.

(2) The linear displacement of the guide shaft 2 is converted into the amount of rotation of the spindle nut 12 by the mechanical unit of the lead screw 13 and the spindle nut 12. The relationship between the amount of linear displacement and the amount of rotation is (2-1)

Where: Δx is the shape variable of the spring; Δθ is the amount of rotation of the gear; L is the lead of the screw;

(3) the grating disk 4 is coaxially fixed to the screw nut 12, and the reading head 5 converts the rotation amount of the grating disk 4 into the pulse number of the electric signal;

(4) The screw nut and the gear set, the pulley, the timing pulley, etc. can coaxially connect the transmission mechanism with the rotation amount enlarged, the output shaft of the transmission mechanism is coaxially connected with the grating disk 4, and the reading head 5 rotates the grating disk 4. The number of pulses converted into electrical signals;

(5) After the above process, the external force F causes the shape variable of the spring 3 to be converted into the number of pulses of the electric signal. The force measuring device converts a small amount of spring deformation into a large amount of rotation and counts it with a rotary encoder. Improved measurement resolution and accuracy. The relationship between the encoder record data and the spring-shaped variable is (2-2):

Where: M is the reduction ratio of the gear set; N is the number of lines of the grating disk; the lead of the L screw; Δx is the shape variable of the spring; the integer part of S is the value read by the read head.

The shape variable is Δx, the reduction ratio of the transmission mechanism is 3:1, and the number of lines of the grating disk is 400. The shape variable Δx can be subdivided into 1200 copies, and the resolution of the reading will be increased by several orders of magnitude.

Claims

A material grabbing method, characterized in that:

Obtain the pose of the material box, and determine the grab direction of the grab information according to the position of the material box;

Get the grab point, grab strength, grab size, and grab depth in the crawl information;

Grab the material according to the grab information.
The method of claim 1 wherein:

Obtaining the pose of the material bin includes obtaining the deflection amount of the material bin;

A gripping direction of the gripping information is obtained according to the amount of deflection.
The method of claim 2 wherein:

The material bin includes a first feature that obtains a deflection amount of the material bin based on the first feature.
The method of claim 1 wherein:

Obtain the pose of the material box to obtain the pose of the material, and determine the grab direction of the grab information according to the pose of the material;
The method of claim 4 wherein:

The material in the material bin includes a third feature, the third feature having a directionality, and the grasping direction is determined by the third feature.
A method according to any one of claims 1 to 5, wherein:

Obtain material information, and obtain the crawling strength, the crawling depth, and the grab size of the crawling information according to the material information.
The method of claim 6 wherein:

Identifying a second feature disposed on the material bin;

And analyzing the second feature to obtain an identity of the material bin included in the second feature, where the identity identifier is associated with the material information;

Get the grab strength, grab size, and grab depth based on the material information.
The method of claim 7 wherein:

The material includes a third feature, and the third feature is analyzed to obtain the grab point information included in the third feature.
A method according to claim 3 or 4, characterized in that:

Obtaining the position of the material box includes obtaining the position of the material box, obtaining the position information of the material box according to the first feature, obtaining a relative positional relationship between the material box and the material in the material box, according to the position information and the relative position of the material box The relationship determines the grab point.
The method of claim 9 wherein:

Obtain material information, and obtain the crawling strength, the crawling depth, and the grab size of the crawling information according to the material information.
The method of claim 10 wherein:

Identifying a second feature disposed on the material bin;

And analyzing the second feature to obtain an identity of the material bin included in the second feature, where the identity identifier is associated with the material information;

Get the grab strength, grab size, and grab depth based on the material information.
The method of claim 1 wherein:

Obtain the pose of the material bin to adjust the material bin to a fixed posture by the actuator.
The method of claim 12 wherein:

Obtain the material box information, the relative position relationship between the material box and the materials in the material box, and the material information;

Obtaining a capture point of the captured information according to the relative position relationship, the material box information, and the material information;

According to the material information, the crawling strength, the grab size, and the grab depth of the crawl information are obtained.
The method of claim 13 wherein:

Identifying a second feature disposed on the material bin;

Analyzing the second feature to obtain a relative position relationship information of the material box and the material included in the second feature, and material information;

The relative position relationship information and the material information and the position information of the material box are calculated to obtain the grab point of the material capture information.
The method of claim 14 wherein:

Identifying a second feature disposed on the material bin;

According to the second feature, the grab strength, the grab size, and the grab depth are obtained.
A material grabbing device, comprising:

The grab direction acquisition module is configured to obtain the posture of the material box, and determine the grab direction of the grab information according to the position of the material box;

a grab point acquisition module for acquiring a grab point;

Grab the strength acquisition module for obtaining the crawling strength;

Grab the size acquisition module for obtaining the grab size;

Grab the depth acquisition module to get the crawl depth.
The device according to claim 16, wherein the capture direction acquisition module comprises:

a deflection amount unit, configured to obtain a deflection amount of the material box according to the first feature, wherein the first feature is disposed on the material box;

And a direction determining unit configured to determine a grab direction of the grab information according to the amount of the deflected.
The device according to claim 16, wherein the grasping device further comprises:

a material box information module, configured to obtain information of the material box, and determine material information associated with the material box information according to the information of the material box;

The material box information module includes a material box information acquiring unit, configured to acquire an identity identifier of the material box included in the second feature, where the identity identifier corresponds to the material box information; and the second feature is disposed on the material box;

The material box information module includes a material information acquiring unit, and determines material information associated with the material box information according to the identity identifier;

The grab strength obtaining module obtains the crawling strength according to the material information;

The grab size acquisition module acquires a grab size according to the material information;

The grab depth acquisition module obtains a crawl depth according to the material information.
The device according to claim 16, wherein the capture point acquisition module comprises:

The point obtaining unit acquires the grab point information according to the third feature, the third feature is set on the material, and the third feature includes the grab point information.
The device according to claim 16, wherein the capture point acquisition module comprises:

Positioning unit, obtaining position information of the material box according to the first feature, the first feature being disposed on the material box;

The point obtaining unit determines the grab point according to the position information of the material box.
The device of claim 16, wherein the capture direction module comprises:

The direction obtaining unit, the grab direction acquiring module determines the grab direction information by using the third feature, and the third feature is set on the material to determine the grab direction.
The device according to claim 16, wherein the grasping device further comprises:

A pose adjustment module that controls the actuator to adjust the material bin to a fixed pose.
The device according to claim 16, wherein the grasping device further comprises:

Obtaining a module, obtaining a relative position relationship between the material box and the material in the material box, and material information;

The grab point obtaining module obtains a grab point of the grab information according to the relative position relationship, the position information of the material box, and the material information;

Grab the strength acquisition module, and obtain the crawling strength of the crawl information according to the material information;

Grab the size acquisition module, and obtain the grab size of the grab information according to the material information;

Grab the depth acquisition module and obtain the crawl depth of the crawl information according to the material information.
The device according to claim 23, wherein the obtaining module comprises:

a relative position relationship unit, configured to obtain a relative position relationship information of the material box and the material included in the second feature, and material information;

a material information unit for obtaining material information included in the second feature.
The device of claim 16 wherein:

Grab the strength acquisition module to obtain the crawling strength included in the second feature;

Grab the size acquisition module to obtain the grab size included in the second feature;

Grab the depth acquisition module to obtain the crawl depth included in the second feature.
A material grabbing system characterized by:

The utility model comprises a gripping device, a storage controller, a detecting device, a material box and materials in the material box;

The storage controller is configured to store an instruction, and control the capture device and the detection device to execute the instruction; the instruction includes: acquiring a pose of the material box, and determining a capture direction of the capture information according to the position of the material box;

Get the grab point, grab strength, grab size, and grab depth of the crawl information;

Grab the material according to the grab information.
A material turnover box, characterized in that:

The utility model comprises a box body, the box body comprises a box side surface and a box bottom, and the box side surface and the box bottom form a hollow coverless structure;

The inner space of the box is divided into a plurality of sub-spaces by the inner tray disposed in parallel in the box space. The inner bracket is fixed by an inner positioning mechanism for determining the position of the inner tray.
The material container according to claim 27, wherein:

The inner space of the box has a first inner layer and a second inner layer, and the first inner layer and the second inner layer do not interfere with each other and the first inner layer and the second inner layer The inside has a certain angle.
The material container according to claim 27, wherein:

The inner trays of the first inner tray layer and the second inner tray layer are respectively disposed in parallel.
The material container according to claim 27, wherein:

The inner positioning mechanism is a positioning hole, and the positioning hole penetrates the side of the box, and each positioning hole has a certain position.
The material container according to claim 30, wherein:

The positioning hole is composed of at least two rows of horizontally parallel holes of the same number, and the corresponding holes of the upper and lower rows are distributed on the same straight line.
The material container according to claim 30, wherein:

The inner tray positioning mechanism includes a positioning slot and a corresponding positioning hole disposed in the positioning slot, the positioning holes are on the same horizontal line, and each positioning hole has a certain position.
The material container according to claim 27, wherein:

The inner positioning mechanism is a positioning groove, and the distance between two adjacent positioning grooves on the side of the same box is determined.
A material container according to claim 31 or 32, wherein:

The spacing of the adjacent positioning holes on the same horizontal line is fixed, and the position can be directly read by a scale corresponding to the positioning hole disposed under the positioning hole, or the position is calculated by the spacing of the known positioning holes.
The material container according to claim 30, wherein:

The inner bracket has a protruding portion corresponding to the positioning hole, and the protruding portion of the inner bracket is embedded in the positioning hole.
A force measuring device comprising: a deformation portion deformed by a pressure and a motion conversion portion that converts the deformation into a rotational displacement, the deformation portion being coupled to the motion conversion portion, the motion conversion portion being coupled to the encoder.
The force measuring device according to claim 36, wherein the deformation portion comprises a force receiving surface, a guiding shaft, and a spring, the force receiving surface is located at one end of the guiding shaft, and the spring is defined by the blocking piece of the guiding shaft Between the force surfaces, the other end of the guide shaft is connected to the motion converting portion.
A force measuring device according to claim 36 or 37, wherein said motion converting portion includes a rack coupled to the deforming portion, and a gear train to which the rack is coupled, said gear set being coupled to the encoder, said gear The set includes at least one gear.
The force measuring device according to claim 37, wherein said rack is fixed to the other end of the guide shaft, and said rack is axially parallel to the guide shaft.
The force measuring device according to claim 36 or 37, wherein the motion converting portion comprises a lead screw connected to the deformation portion, and a screw nut coaxially mounted on the screw, the screw nut being coaxially connected Encoder.
The force measuring device according to claim 40, wherein said lead screw nut has a tooth groove, said tooth groove being coupled to the encoder via a gear set, said gear set including at least one gear.
A force measuring device according to claim 37, wherein said spring is a linear spring.