CN114034367B - A mobile electronic balance automatic calibration device and method - Google Patents
A mobile electronic balance automatic calibration device and method Download PDFInfo
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- CN114034367B CN114034367B CN202111542974.9A CN202111542974A CN114034367B CN 114034367 B CN114034367 B CN 114034367B CN 202111542974 A CN202111542974 A CN 202111542974A CN 114034367 B CN114034367 B CN 114034367B
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- 210000000078 claw Anatomy 0.000 claims abstract description 41
- 238000012795 verification Methods 0.000 claims description 74
- 238000005259 measurement Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 19
- 230000007246 mechanism Effects 0.000 description 8
- 238000003556 assay Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000004579 marble Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/01—Testing or calibrating of weighing apparatus
- G01G23/012—Testing or calibrating of weighing apparatus with load cells comprising in-build calibration weights
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Abstract
一种电子天平自动检定装置及检定方法，检定装置包括：操作平台、机械手以及控制系统，所述操作平台至少包括两个以上并排放置的工位，每个所述工位内可放置一台待检电子天平；所述机械手至少包括机械臂、爪夹和驱动装置；所述控制系统分别与所述机械臂、所述驱动装置信号连接；还包括适于安装、运输机械手的AGV小车和与所述控制系统信号连接的移动门；每个所述工位至少包括侧壁和开口；所述移动门受控于所述控制系统的开/关门指令移动、所述AGV小车受控于所述控制系统的移动指令、所述机械手受控于所述控制系统的检定指令从而完成检定作业。本发明结合移动机器人和视觉识别系统实现电子天平的自动化检定，切实提高了检定效率。
An automatic calibration device and calibration method for an electronic balance, the calibration device includes: an operating platform, a manipulator and a control system, the operating platform includes at least two or more workstations placed side by side, each of which can be used to place an electronic balance to be tested; the manipulator includes at least a mechanical arm, a claw clamp and a driving device; the control system is respectively connected to the mechanical arm and the driving device by signal; it also includes an AGV trolley suitable for installing and transporting the manipulator and a mobile door connected to the control system by signal; each of the workstations includes at least a side wall and an opening; the mobile door is controlled by the door opening/closing command of the control system to move, the AGV trolley is controlled by the movement command of the control system, and the manipulator is controlled by the calibration command of the control system to complete the calibration operation. The present invention combines a mobile robot and a visual recognition system to realize the automatic calibration of an electronic balance, which effectively improves the calibration efficiency.
Description
Technical Field
The invention relates to the field of metering and verification of non-automatic weighing apparatus equipment, in particular to an automatic verification device and method for a mobile electronic balance.
Background
The electronic balance has the advantages of visual display, strong resolution, small volume, quick response and the like, and is widely applied to the fields of trade, environmental protection, biology, chemistry, medical treatment, food and the like. The accuracy of the electronic balance measurement is related to the reliability and the reliability of the related application in the field, so that the electronic balance must be periodically checked to ensure the accuracy and the reliability of the electronic balance measurement. Electronic balances with over millions of parts per year need to be verified by each level of metering technology mechanisms to ensure the accuracy of the electronic balance's working metering.
At present, the electronic balance is basically verified by adopting a manual verification mode, namely, an electronic balance verification personnel clamps weights by forceps according to JJG1036 'electronic balance verification procedure', and performs verification of indication errors, repeatability errors and unbalanced load errors on the electronic balance. Because the electronic balance is an instrument with larger usage amount, a manual verification mode is adopted to bring larger workload to verification personnel, and meanwhile, different people have different working modes due to fatigue of the verification personnel, so that larger human errors can be brought to verification of the electronic balance. Therefore, there is a need to improve the accuracy and consistency of assay results while improving assay efficiency by automatic assays instead of manual assays.
Chinese patent CN201420825003.4 discloses an online calibration device for an electronic scale, which comprises a tank body, a supporting seat, the electronic scale, a first hydraulic cylinder, a bracket, a weight hanging rack, a weight set, a flat car and a contact switch set, wherein the hydraulic cylinder is used for lifting a liquid container and calibrating weights to realize automatic lifting of the liquid container, and the contact switch is used for combining with a hanging weight to complete the calibration of the electronic scale. However, the automatic verification device of the electronic scale can only verify the indication error of a single electronic scale generally, and uses a simple loading structure to load a series of weights connected at first onto a scale pan of the electronic scale in sequence by a contact-first loading mode to verify the indication of the electronic scale. The method has single function, fixed weight type and loading mode, simple operation mode and is not suitable for full project verification of indication errors, unbalanced load errors and repeatability errors of the electronic balance.
Chinese patent CN201910515096.8 discloses a mobile electronic balance automatic calibrating device, which comprises a machine base, a mechanical arm and a control system, wherein the mechanical arm comprises a motion mechanism, a claw clamp and a driving device, the motion mechanism is arranged on the machine base, the claw clamp is arranged on the motion mechanism and moves through the movement of the motion mechanism, the driving device is connected with the claw clamp and is used for driving the claw clamp to realize clamping action, the control system is in signal connection with the motion mechanism and is used for controlling the motion of the motion mechanism, the control system is in signal connection with the driving device and is used for controlling the driving device to work, a distance measuring sensor and a vision system are further arranged on the motion mechanism, and the distance measuring sensor is in signal connection with the control system and is used for detecting the distance between the claw clamp and a weighing disc of the electronic balance. According to the invention, the electronic balance is automatically verified by combining the mechanical arm with the vision system, so that a manual verification mode can be replaced, the workload and human errors are reduced, and the working efficiency and the reliability are improved. However, the invention adopts a mode of arranging the balance to be detected around the manipulator to arrange the verification platform, the number of electronic balances for single verification is small, and the manipulator can only rotate around the centering center, the verification range is limited, the scene is not flexible enough, in addition, the invention adopts an open workbench for verification, and the protection of windproof equipment and the measurement result are not greatly influenced by airflow.
Disclosure of Invention
In response to one or more of the above deficiencies or improvements in the prior art, the present invention provides an automatic mobile robotic electronic balance verification device and method of operation. The AGV (Automated Guided Vehicle, abbreviated as AGV) is a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a predetermined navigation path, having safety protection and various transfer functions, and is one type of mobile robot.
In order to achieve the purpose, the technical scheme adopted by the invention is that the automatic verification method of the mobile electronic balance comprises the following steps:
The automatic calibrating device for the mobile electronic balance comprises an operation platform, a manipulator, a control system, an AGV trolley suitable for installing and transporting the manipulator and a movable door in signal connection with the control system, wherein the operation platform at least comprises a reference surface which is positioned at a horizontal position during automatic calibration, a placing area suitable for placing a sample to be detected is arranged on the reference surface, the placing area at least comprises more than two stations placed side by side, and each station can be internally provided with one electronic balance to be detected. The operation platform can be a marble platform or a metal platform and has good flatness and levelness, so that an electronic balance placed on the operation platform can be ensured to be stable, and the operation platform is not influenced by external vibration and the movement of an AGV trolley. Part of the operation platform can be provided with a leveling device, so that the levelness of the reference surface in verification is ensured.
As a further improvement of the invention, the manipulator at least comprises a mechanical arm, a claw clamp and a driving device, and the control system is respectively connected with the mechanical arm and the driving device in a signal way.
As a further improvement of the invention, the stations are arranged on the placement area in a row-column mode, each station at least comprises a top wall, side walls and an opening, two adjacent stations are connected with each other or share one side wall, and the movable door is controlled to move by an opening/closing command of the control system so as to open/cover the opening of the station.
As a further improvement of the invention, the tail end of the mechanical arm is provided with a ranging sensor and a positioning camera, and the ranging sensor is in signal connection with the control system and is used for detecting the distance between the claw clip and the scale pan of the electronic balance. The distance measuring sensor can be a laser type distance measuring sensor, the distance between the claw clamp and the scale pan is fed back to the control system by the distance measuring sensor, and the control system can control the manipulator to place weights on the scale pan according to the distance information fed back by the distance measuring sensor and the position, shape and size information of the scale pan fed back by the positioning camera.
As a further development of the invention, the positioning camera is in signal connection with the control system for determining the shape of the scale pan and the position of the weight placement for subsequent detection.
As a further development of the invention, a reading camera is provided at each of the stations, which reading camera is in signal connection with the control system for taking and reading the display readings of the electronic balance. Compared with the single-phase camera additionally arranged on the manipulator before, the calibration method adopting the dual-camera calibration mode of the positioning camera and the reading camera can more reasonably optimize the calibration procedure. Before, the mechanical arm needs to move to the reading position to read after the weights are put in sequence every time, and the mechanical arm needs to move N times after the weights are put N times, so that the complexity of the whole flow can be increased. At present, two separate cameras are adopted for reading and positioning, one is used for positioning and the other is used for reading, the mechanical arm does not need to move to a reading position for reading, after the weight is placed on the balance, the independent camera can directly read, the working procedure is simplified, and the verification flow is more reasonable.
The verification method comprises the following steps:
S1, sequentially placing an electronic balance to be detected in the station, and recording information, wherein the information comprises working condition information of the balance to be detected and station information, and the working condition information comprises model specification, grade, measuring range and actual indexing value of the electronic balance to be detected;
s2, recording the working condition information recorded in the step S1 into the control system;
S3, the control system calculates and obtains a subsection error turning point of a weighing point in the verification process of the electronic balance to be detected according to the working condition information of the electronic balance to be detected, and further determines a corresponding weight mass and an error limit of each weighing point in the measurement process of an indication error, a repeatability error and a unbalance loading error;
S4, the control system sends a moving instruction to the AGV trolley, and the AGV trolley moves to the front of the station for storing the first electronic balance to be detected;
s5, the control system sends a door opening instruction to the movable door, the movable door executes the door opening instruction, and the movable door moves to other stations;
S6, the control system sends out a verification instruction to the manipulator, and the manipulator executes the verification instruction to verify the electronic balance to be detected of the current station; in the verification process, each time the weight is placed by the manipulator, the movable door moves to other stations, and when the reading camera reads, the movable door moves to the current station so as to isolate air flow;
S7, after verification is completed, the control system sends a door closing instruction to the movable door, and the movable door moves to other stations which do not shade the next detection station;
s8, the control system sends a moving instruction to the AGV trolley, and the AGV trolley moves to the front of the station for storing the next electronic balance to be detected;
S9, repeating the steps S5-S8 until the verification operation of all the electronic balances to be detected is completed.
As a further improvement of the invention, the top wall and the side wall are enclosed to form a wind shield, so that the influence of air flow on the measurement of the electronic balance is prevented, and the error is reduced.
As a further improvement of the invention, the movable door keeps shielding the opening during detection, and further provides a windproof and dustproof environment for detecting the electronic balance to be detected. During actual detection, after the weight is caused by the influence of external air flow, the verification reading is influenced by a fluctuation environment, and the stability duration of the verification reading tends to be stable is long. When placing the weight, the manipulator is moving to adjacent station, the manipulator is placed after the weight is finished, the dodge gate is got back to current station, opens once more when placing the weight next time, can prevent the influence of air current to electronic balance measurement, can accelerate the time that the reading is stable.
As a further improvement of the invention, the AGV is controlled by the moving instruction of the control system so as to finish verification operation before moving to the corresponding station, and the manipulator is controlled by the verification instruction of the control system so as to finish verification operation under the opening and closing cooperation of the moving door. Because the AGV dolly removes more nimble, for traditional, the manipulator is fixed, only around the centering rotation, carry out the verification mode of single platform verification, verification scope is wider, adopts multistation verification, removes one and detects one, and the process is reasonable.
As a further improvement of the present invention, the opening/closing command of the moving door includes a door opening command to move to the adjacent station to open the current station, and a door closing command to return to the current station to close the opening of the station.
As a further development of the invention, the top wall is also provided with a guide rail structure adapted to guide the movement of the moving door, said guide rail structure covering at least the width of two stations placed side by side.
As a further improvement of the invention, the AGV trolley is also provided with a weight bracket, weights are placed on the weight bracket, the weight bracket adopts a multi-layer ladder type structure, each layer of the multi-layer ladder type structure is provided with weight grooves with different sizes, the weights are placed in the weight grooves, and the sizes of the weight grooves are matched with those of the weights for accurate placement of the weights.
As a further improvement of the invention, the claw clip is mounted at the end of the mechanical arm, and the position adjustment in the current station is realized through the movement of the mechanical arm.
As a further improvement of the invention, the mechanical arm is a vertical multi-joint mechanical arm, and the mechanical arm has strong space movement capability, flexible operation and can accurately place weight positions.
As a further improvement of the invention, the driving device is connected with the claw clip and is suitable for driving the claw clip to realize the action of clamping the weight.
As a further improvement of the invention, the claw clips are composite claw clips, the front end parts of the claw clips are used for clamping large weights, and the middle parts of the claw clips are used for clamping small weights.
As a further improvement of the invention, the weights are special weights which are produced by clamping claws easily, the special weights are cylindrical, the upper ends of the special weights are provided with convex blocks, the lower ends of the special weights are provided with grooves, the convex blocks and the grooves of the two special weights can be matched with each other, the weights are more stable when a plurality of weights are stacked, and the side surfaces of the special weights are provided with annular grooves, so that the clamping of the claws is facilitated.
As a further improvement of the invention, each time the claw clip completes a verification action, the control system controls the movable door to execute corresponding opening/closing commands, so that the movable door closes the opening when the weight is placed in the station for reading.
The control system comprises a mechanical arm controller, a PLC and an industrial personal computer, wherein the mechanical arm controller is in signal connection with the mechanical arm for controlling movement of the mechanical arm, the PLC is in signal connection with a driving device for controlling the driving device to work, the industrial personal computer is in signal connection with the AGV trolley for controlling movement of the AGV trolley, and the industrial personal computer is in signal connection with the movable door for controlling opening and closing of the movable door.
As a further improvement of the invention, the industrial personal computer is in signal connection with a distance measuring sensor, and the distance measuring sensor feeds back a distance signal between the detected claw clamp and the electronic balance scale pan to the industrial personal computer; the industrial personal computer is in signal connection with the positioning camera, the positioning camera feeds back image information of the scale pan of the electronic balance to the industrial personal computer, the industrial personal computer calculates the shape and the size of the scale pan and the position where the weight is placed according to the image information, the industrial personal computer is in signal connection with the reading camera and is used for receiving data signals fed back by the reading camera, and the verification workflow of the electronic balance built in the industrial personal computer is used for finishing verification of indication errors, repeatability errors and unbalanced load errors of the electronic balance.
As a further improvement of the invention, the control system can control the AGV trolley to move to a station provided with the electronic balance, calculate weight masses required by three items of corresponding indication errors, repeatability errors and unbalanced load errors of the electronic balance according to the model specification, the measuring range, the grade and the information of the actual indexing value of the electronic balance, and then control the manipulator to perform corresponding verification operation.
As a further improvement of the invention, the control system is a control system based on a desktop computer, and the control system controls the AGV trolley to move to an operation station where the electronic balance is placed, and then controls the manipulator, the movable door, the ranging sensor, the positioning camera and the reading camera to work so as to verify the indication error, the repeatability error and the unbalanced load error of the electronic balance.
As a further improvement of the present invention, the certification instructions include:
s6.1, the manipulator moves to enable the claw clips to move to the position above the electronic balance to be detected of the station;
S6.2, the distance measuring sensor detects the distance between the claw clip and the scale pan of the electronic balance and feeds back the distance information to the control system;
S6.3, shooting by the positioning camera to obtain the shape and the size of the electronic balance scale pan and feeding information back to the control system;
s6.4, the control system calculates the position where the weight is placed according to the information obtained by feedback;
And S6.5, sequentially finishing verification of the indication error, the repeatability error and the unbalanced load error according to the verification process.
Compared with the prior art, the invention has the following beneficial technical effects:
on the one hand, compared with the original automatic calibrating device with the fixed manipulator and the axial surrounding of the electronic balance to be detected, the automatic calibrating device can move along with the AGV of the mobile trolley, one mobile calibrating device can detect one mobile calibrating device, and the automatic calibrating device is high in efficiency and flexible to operate.
On the other hand, the traditional verification platform is mostly of an open type, is influenced by air flow and dust, and has larger influence on measurement results.
In another aspect, the traditional verification platform is a single machine platform, is currently a mobile robot, is not limited to the single machine platform and is used for multi-station verification, the verification process is standard and uniform, and random errors caused by manual operation are effectively avoided.
In yet another aspect, the conventional assay platform is a single camera mounted on a robot for positioning and reading, while the invention is a multiple camera, one on the robot for positioning, and then one on each electronic balance detection station for reading, simplifying the operational flow and optimizing the assay steps.
In still another aspect, the invention combines the mobile robot and the visual recognition system to realize the automatic verification of the electronic balance, reduces the workload of verification personnel and practically improves the verification efficiency of the electronic balance.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the mobile robot.
Reference numerals:
1-driving device, 2-claw clamp, 3-mechanical arm, 4-control system, 5-weight, 6-weight bracket, 7-AGV dolly, 8-positioning camera, 9-ranging sensor, 10-reading camera, 11-electronic balance, 12-movable door, 13-windshield, 14-operation platform, 15-reference surface, 16-side wall, 17-roof, 18-opening.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
It should be noted that the terms "mounted," "disposed," "configured," "connected," "coupled," and "sleeved" should be construed broadly. For example, they may be fixedly connected, detachably connected, or of unitary construction, they may be mechanically or electrically connected, they may be directly connected, or they may be indirectly connected through intermediaries, or they may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
When the mounting means is described as "connected" or "connected," the connection may be direct or indirect through an intervening component. The terms "vertical," "horizontal," "parallel," and the like as used herein refer to a generally vertical or generally horizontal state within reasonable tolerances, and are not necessarily to be construed precisely, nor are they intended to merely facilitate the relative positional relationship of the various components. In the present invention, if no contrary indication is made, a component "provided with", "disposed on", "connected to" another component, it is not excluded that the two components are in an integral structure.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1 to 2, the automatic verification device for an electronic balance of the present embodiment includes an operation platform 14, an AGV trolley 7, a manipulator and a control system 4, where the manipulator includes a manipulator 3, a gripper 2 and a driving device 1, the manipulator 3 is mounted on the AGV trolley 7 and moves through movement of the AGV trolley 7, the gripper 2 is mounted at the end of the manipulator 3 and moves through movement of the manipulator 3, the driving device 1 is connected with the gripper 2 and is used for driving the gripper 2 to implement movement of gripping weights 5, the control system 4 is connected with the manipulator 3 by signals and is used for controlling movement of the manipulator 3, and the control system 4 is connected with the driving device 1 by signals and is used for controlling the driving device to work.
As shown in fig. 2, the tail end of the mechanical arm 3 is further provided with a ranging sensor 9 and a positioning camera 8, the ranging sensor 9 is connected with the control system signal 4 for detecting the distance between the claw grip 2 and the scale pan of the electronic balance 11, and the positioning camera 8 is connected with the control system 4 signal for determining the shape of the scale pan and the position where the weight 5 is placed during subsequent detection.
Be equipped with weight support 6 and weight 5 on AGV dolly 7, weight 5 is placed on weight support 6, and weight support 6 adopts multilayer cascaded structure, and every layer of multilayer cascaded structure sets up the weight groove of equidimension, and weight 5 is placed in the weight groove, and the size in weight groove and weight 6 assorted for the accuracy of weight 5 is placed.
The weight 5 adopts special weight, and special weight is the easy centre gripping of claw clamp 2 and the weight of production, and special weight's shape is the cylinder, and the upper end is equipped with the lug, and the lower extreme is equipped with the recess, and the lug and the recess of two special weights can mutually support, are favorable to more stable when a plurality of weights 5 stack, and the side of special weight is equipped with annular groove, are favorable to the clamp of claw clamp 2 to get.
The electronic balance 11 is placed on the independent operation platform 14, the operation platform 14 is including the benchmark surface that is in horizontal position when automatic check, be equipped with the district of placing that is suitable for placing the sample that waits to examine on the benchmark surface, place the district and include a plurality of stations of placing side by side, and an electronic balance 11 is placed to every station, and operation platform 14 can be marble platform or metal platform and have good planarization and levelness, can guarantee that the electronic balance 11 of placing on operation platform 14 is steady, does not receive external vibrations and AGV dolly 7 removal's influence. In other embodiments, the operator platform 14 may also be provided with leveling means to ensure levelness of the reference surface 15 during calibration.
The stations are arranged in rows and columns on the placement area, each station at least comprises a top wall 16, side walls 17 and an opening 18, two adjacent stations share one side wall 17, and in other embodiments, the side walls 17 of two adjacent stations can be connected and fixed through a connecting structure. The top wall 16 and the side wall 17 enclose to form the wind shield 13, and the wind shield 13 separates the stations of the electronic balance 11, so that the influence of air flow on the measurement of the electronic balance 11 is prevented, and errors are reduced.
The top wall 16 is also provided with a guide structure adapted to guide the movement of the mobile door 12, the guide structure covering the width of all the stations placed side by side.
The windshield 13 is provided with a movable door 12, the movable door 12 is in signal connection with the control system 4 and is used for controlling the position of the movable door 12, the movable door moves to a side station when the weight is placed by the manipulator, the movable door returns to the current station after the weight 5 is placed by the manipulator, the opening 18 of the current station is shielded, and the movable door is opened again when the weight 5 is placed next time, so that the influence of air flow on the measurement of the electronic balance 11 is prevented, and the time for reading stabilization can be shortened.
Each electronic balance 11 is provided with a reading camera 10 at its operating station, the reading camera 10 being in signal connection with the control system 4 for taking and reading the display readings of the electronic balance 11.
The control system 4 can control the AGV trolley 7 to move to a station where the electronic balance 11 is placed, calculate weight mass required by three items of indication error, repeatability error and unbalanced load error corresponding to the electronic balance 11 according to the information of model specification, measuring range, grade and actual indexing value of the electronic balance 11, and then control the manipulator to perform corresponding verification operation.
The mechanical arm 3 is a vertical multi-joint mechanical arm, the mechanical arm 3 has strong space movement capability and flexible operation, and the weight position can be accurately placed.
The claw clip 2 is a composite claw clip, the front end part of the claw clip 2 is used for clamping a large weight, and the middle part of the claw clip 2 is used for clamping a small weight.
The distance measuring sensor 9 is a laser type distance measuring sensor, the distance between the claw clamp 2 and the scale pan of the electronic balance 11 is fed back to the control system 4 by the distance measuring sensor 9, and the control system 4 can control the manipulator to place the weight 5 on the scale pan according to the distance information fed back by the distance measuring sensor 9 and the scale pan position, shape and size information fed back by the positioning camera 8.
The control system 4 comprises a mechanical arm controller, a PLC and an industrial personal computer, wherein the mechanical arm controller is in signal connection with the mechanical arm 3 and used for controlling movement of the mechanical arm 3, the PLC is in signal connection with the driving device 1 and used for controlling the driving device 1 to work, the industrial personal computer is in signal connection with the AGV trolley 7 and used for controlling movement of the AGV trolley 7, the industrial personal computer is in signal connection with the movable door and used for controlling opening and closing of the movable door, the industrial personal computer is in signal connection with the ranging sensor 9, the ranging sensor 9 feeds back a detected distance signal between the claw clamp 2 and the scale pan of the electronic balance 11 to the industrial personal computer, the industrial personal computer is in signal connection with the positioning camera 8, the positioning camera 8 feeds back image information of the scale pan of the electronic balance 11 to the industrial personal computer, the industrial personal computer is in signal connection with the reading camera 10 and used for receiving a data signal balance fed back by the reading camera 10, and the internal electronic verification work flow of the industrial personal computer is used for completing verification of indication errors, repeatability errors and unbalanced load errors.
The control system 4 is a control system based on a desktop computer, the control system 4 controls the AGV trolley 7 to move to an operation station where the electronic balance 11 is placed, and then controls the manipulator, the movable door, the ranging sensor 9, the positioning camera 8 and the reading camera 10 to work, so as to verify the indication error, the repeatability error and the unbalanced load error of the electronic balance 11.
The working principle of this embodiment is as follows:
The electronic balances 11 are sequentially placed on the operation stations, information of model specifications, grades, measuring ranges and actual dividing values of the electronic balances on the corresponding operation stations is input into the control system 4, and the control system 4 calculates indicating value errors, repeatability errors and weight mass corresponding to unbalanced load errors of verification of the electronic balances and error limits of each weighing point according to the information of the electronic balances 11.
After calculation, the AGV trolley 7 moves to a first operation station according to the instruction, the moving door is connected to a door opening instruction and moves to a second operation station, the manipulator moves to enable the claw holder 2 to move to the position above the electronic balance 11, the distance sensor 9 detects the distance between the claw holder 2 and the scale pan of the electronic balance 11 and feeds back distance information to the control system 4, the positioning camera 8 shoots to obtain the shape and the size of the scale pan of the electronic balance 11 and feeds back the information to the control system 4, the control system 4 calculates the position where the weight 5 is placed according to the information obtained by feedback, wherein when the indicating value error and the repeatability error are detected, the position where the weight 5 is placed is the center of the scale pan of the electronic balance 11, when the offset error is detected, the position where the weight 5 is located is one half of the center of the scale pan of the electronic balance 11, after the position where the weight 5 is located is determined, the indicating value error, the repeatability error and the offset error are sequentially completed according to the working flow, after the manipulator opens the moving door to place the corresponding position of the weight 5, the moving door is closed after the weight 5 is placed to the corresponding position, the reading camera 8 and the like to the electronic balance 11 is displayed, and when the electronic balance 11 is read, and the electronic balance 11 is judged to be the maximum and the electronic balance is not detected, if the electronic balance is not detected, and the electronic balance is judged to be the maximum and the electronic balance is judged to be qualified, and the result is judged to be the stable, and if the electronic balance is not detected.
After the verification of the first operation station is completed, the AGV trolley 7 moves to the second operation station and starts to execute verification work, and then sequentially moves to the third, fourth and fifth stations to execute verification work until the verification of the electronic balance 11 on all the stations is completed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. An automatic verification method for a mobile electronic balance is characterized by comprising the following steps of
The automatic calibrating device for the mobile electronic balance comprises an operation platform, a manipulator, a control system, an AGV trolley suitable for installing and transporting the manipulator and a movable door in signal connection with the control system, wherein the operation platform at least comprises a reference surface which is positioned at a horizontal position during automatic calibration, a placing area suitable for placing a sample to be detected is arranged on the reference surface, the placing area at least comprises more than two stations which are placed side by side, and each station can be internally provided with one electronic balance to be detected;
The automatic verification system comprises a placement area, a movable door, an AGV trolley, a manipulator, a control system and a manipulator, wherein the stations are arranged on the placement area in a row-column mode, each station at least comprises a top wall, a side wall and an opening, and two adjacent stations are connected with each other or share one side wall;
The tail end of the mechanical arm is provided with a ranging sensor and a positioning camera, the ranging sensor is in signal connection with the control system and is used for detecting the distance between the claw clamp and the scale pan of the electronic balance;
Each station is provided with a reading camera which is in signal connection with the control system and is used for shooting and reading the display reading of the electronic balance;
The verification method comprises the following steps:
s1, sequentially placing an electronic balance to be detected in the station, and recording information;
The information comprises working condition information and station information of the balance to be verified,
The working condition information comprises model specification, grade, measuring range and actual dividing value of the electronic balance to be detected;
The station information comprises station numbers and sequences of the stations which are calibrated in sequence;
S2, inputting the information recorded in the step S1 into the control system;
s3, the control system calculates and obtains a subsection error turning point of a weighing point in the verification process of the electronic balance to be detected according to the working condition information of the electronic balance to be detected, and further determines a corresponding weight mass and an error limit of each weighing point in the measurement process of an indication error, a repeatability error and an unbalance loading error;
The control system also calculates and obtains the moving path of the AGV trolley according to the station information of the electronic balance to be detected;
S4, the control system sends a moving instruction to the AGV trolley, and the AGV trolley moves to the front of the station for storing the first electronic balance to be detected;
s5, the control system sends a door opening instruction to the movable door, the movable door executes the door opening instruction, and the movable door moves to other stations;
S6, the control system sends out a verification instruction to the manipulator, and the manipulator executes the verification instruction to verify the electronic balance to be detected of the current station;
in the verification process, each time the weight is placed by the manipulator, the movable door moves to other stations, and when the reading camera reads, the movable door moves to the current station so as to isolate air flow;
S7, after verification is completed, the control system sends a door closing instruction to the movable door, and the movable door moves to other stations which do not shade the next detection station;
s8, the control system sends a moving instruction to the AGV trolley, and the AGV trolley moves to the front of the station for storing the next electronic balance to be detected;
S9, repeating the steps S5-S8 until the verification operation of all the electronic balances to be detected is completed.
2. The method for automatically calibrating a mobile electronic balance according to claim 1, wherein the top wall and the side walls are enclosed to form a windshield, and wherein the mobile door remains shielded from the opening during calibration.
3. The automatic verification method for mobile electronic balances according to claim 2, characterized in that:
The door opening/closing command of the moving door comprises a door opening command for moving to the adjacent station to open the current station and a door closing command for returning to the current station to shield the opening of the station;
And/or the top wall is also provided with a guide rail structure which is suitable for guiding the moving door to move, and the guide rail structure at least covers the width of two stations which are arranged side by side.
4. The automatic verification method of the mobile electronic balance according to claim 3, wherein the AGV trolley is further provided with a weight bracket, weights are placed on the weight bracket, the weight bracket adopts a multi-layer step structure, each layer of the multi-layer step structure is provided with weight grooves with different sizes, the weights are placed in the weight grooves, the sizes of the weight grooves are matched with those of the weights, and the automatic verification method is used for accurately placing the weights.
5. The automatic verification method of the mobile electronic balance of claim 4, wherein the claw clamp is arranged at the tail end of the mechanical arm and can realize position adjustment in the current station through movement of the mechanical arm, the driving device is connected with the claw clamp and is suitable for driving the claw clamp to realize the action of clamping the weight, the front end part of the claw clamp is suitable for clamping a large weight, and the middle part of the claw clamp is suitable for clamping a small weight.
6. The method of claim 5, wherein each time the jaw is moved to grip the weight, the control system controls the movable door to execute a corresponding open/close command to keep the movable door covering the opening when the weight is positioned in the station for reading.
7. The method for automatically calibrating a mobile electronic balance according to claim 1, wherein the calibration instructions comprise:
s6.1, the manipulator moves to enable the claw clips to move to the position above the electronic balance to be detected of the station;
S6.2, the distance measuring sensor detects the distance between the claw clip and the scale pan of the electronic balance and feeds back the distance information to the control system;
S6.3, shooting by the positioning camera to obtain the shape and the size of the electronic balance scale pan and feeding information back to the control system;
s6.4, the control system calculates the position where the weight is placed according to the information obtained by feedback;
And S6.5, sequentially finishing verification of the indication error, the repeatability error and the unbalanced load error according to the verification process.
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