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CN-224223901-U - Weight detection robot

CN224223901UCN 224223901 UCN224223901 UCN 224223901UCN-224223901-U

Abstract

The utility model provides a weight detection robot which comprises a mechanical arm, an end effector and a processor module, wherein the end effector comprises a clamp and a weight sensor module, the clamp is connected with the tail end of the mechanical arm through the weight sensor module, the weight sensor module is electrically connected with the processor module, the clamp is used for grabbing or sucking a target object, the weight sensor module is used for collecting weight data of the target object when the clamp grabs or sucks the target object, the mechanical arm is used for controlling the end effector to move so that the clamp can execute grabbing or sucking actions, and the processor module is used for obtaining the weight data of the target object and judging whether the target object has multiple grabbers or drops according to the weight data. The weight sensor is arranged at the tail end of the mechanical arm, so that the weight of an object can be conveniently measured, and whether the object has a phenomenon of more grabbing or less grabbing wires can be judged.

Inventors

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Assignees

  • 星猿哲科技(上海)有限公司

Dates

Publication Date
20260512
Application Date
20230728

Claims (10)

  1. 1. The weight detection robot is characterized by comprising a mechanical arm, an end effector and a processor module; The end effector comprises a clamp and a weight sensor module, wherein the clamp is connected with the tail end of the mechanical arm through the weight sensor module; the clamp is used for grabbing or sucking the target object; The weight sensor module is used for collecting weight data of the target object when the clamp grabs or absorbs the target object; The mechanical arm is used for controlling the end effector to move so as to enable the clamp to perform grabbing or sucking actions; The processor module is used for acquiring weight data of the target object and judging whether the target object has multiple grabs or drops according to the weight data.
  2. 2. The weight detection robot of claim 1, wherein the weight sensor module comprises an upper connection plate, a lower connection plate, a first weight sensor, and a second weight sensor; The two ends of the upper side surface of the lower connecting plate are respectively provided with the first weight sensor and the second weight sensor; The upper side surface of one end of the second weight sensor is connected with the upper connecting plate, and the lower side surface of the other end of the second weight sensor is connected with the lower connecting plate; the upper connecting plate is connected with the tail end flange of the mechanical arm.
  3. 3. The weight detecting robot of claim 2, wherein an upper side surface of one end of the first weight sensor is connected to the upper connection plate through a first spacer, and a lower side surface of the other end is connected to the lower connection plate through a second spacer; The upper side face of one end of the second weight sensor is connected with the upper connecting plate through a third gasket, and the lower side face of the other end of the second weight sensor is connected with the lower connecting plate through a fourth gasket.
  4. 4. The weight detection robot of claim 1, wherein the fixture comprises an adapter plate, an upper cover plate, a lower cover plate, and a vacuum generator; A vacuum cavity is arranged between the upper cover plate and the lower cover plate; The lower side surface of the lower cover plate is provided with suction holes which are arranged in a matrix, and the suction holes are communicated with the vacuum cavity; The vacuum generator is arranged on the upper side face of the upper cover plate, the adapter plate is connected with the upper side face of the upper cover plate and is located in the central area of the upper cover plate, so that the clamp structures located on the two sides of the adapter plate are symmetrical.
  5. 5. The weight detection robot of claim 4, wherein the upper cover plate and the lower cover plate are connected to form a unitary structure.
  6. 6. The weight detection robot of claim 2, wherein the upper connection plate and the lower connection plate are disposed in parallel.
  7. 7. The weight detection robot of claim 2, wherein the long sides of the upper and lower connection plates are perpendicular or parallel to the long sides of the jig.
  8. 8. The weight detection robot of claim 2, wherein the first weight sensor is located at one end of the upper and lower connection plates and the second weight sensor is located at the other end of the upper and lower connection plates; The first weight sensor is arranged in parallel with the second weight sensor.
  9. 9. The weight detection robot of claim 1, wherein the processor module is configured to obtain a preset weight of each of the target items and a number of grabs of each of the target items, determine an actual number of grabs of the target items based on the weight data of the target items and the weight of each of the target items, and compare the actual number of grabs of the target items with the preset number of grabs of each of the target items to determine whether to multi-grab the target items.
  10. 10. The weight detection robot of claim 1, wherein the processor module is configured to obtain a preset weight of each of the target items and a number of grabs of each of the target items, determine an actual number of grabs of the target items based on the weight data of the target items and the weight of each of the target items, and compare the actual number of grabs of the target items with the preset number of grabs of each of the target items to determine whether a drop has occurred in the movement of the target items.

Description

Weight detection robot The utility model is a divisional application of Chinese patent application 202322018671.8 with the application date of 2023, 7, 28 and the title of weight detection robot. Technical Field The present utility model relates to an industrial robot, and in particular, to a weight detection robot. Background An industrial robot is an intelligent device with a sensor, an objective lens and an electronic optical system, and can be used for rapidly sorting and carrying cargoes. More and more visual sensors and force sensors are used on industrial robots, and the industrial robots become more and more intelligent. With the technical progress of sensing and recognition systems, artificial intelligence and the like, robots are gradually informationized from unidirectional control to self-storage and self-application data development. When goods are sorted and carried by the industrial robot, the goods need to be subjected to image acquisition by a visual sensor, the gesture of the goods is determined by identifying the images of the goods, and then the goods are sorted or carried by the industrial robot by a loaded clamp or a clamp. Disclosure of utility model In view of the drawbacks of the prior art, an object of the present utility model is to provide a weight detecting robot. The weight detection robot provided by the utility model comprises a mechanical arm, an end effector and a processor module; The end effector comprises a clamp and a weight sensor module, wherein the clamp is connected with the tail end of the mechanical arm through the weight sensor module; the clamp is used for grabbing or sucking the target object; The weight sensor module is used for collecting weight data of the target object when the clamp grabs or absorbs the target object; The mechanical arm is used for controlling the end effector to move so as to enable the clamp to perform grabbing or sucking actions; The processor module is used for acquiring weight data of the target object and judging whether the target object has multiple grabs or drops according to the weight data. Preferably, the weight sensor module includes an upper connection plate, a lower connection plate, a first weight sensor, and a second weight sensor; The two ends of the upper side surface of the lower connecting plate are respectively provided with the first weight sensor and the second weight sensor; The upper side surface of one end of the second weight sensor is connected with the upper connecting plate, and the lower side surface of the other end of the second weight sensor is connected with the lower connecting plate; the upper connecting plate is connected with the tail end flange of the mechanical arm. Preferably, the upper side surface of one end of the first weight sensor is connected with the upper connecting plate through a first gasket, and the lower side surface of the other end of the first weight sensor is connected with the lower connecting plate through a second gasket; The upper side face of one end of the second weight sensor is connected with the upper connecting plate through a third gasket, and the lower side face of the other end of the second weight sensor is connected with the lower connecting plate through a fourth gasket. Preferably, the fixture comprises an adapter plate, an upper cover plate, a lower cover plate and a vacuum generator; A vacuum cavity is arranged between the upper cover plate and the lower cover plate; The lower side surface of the lower cover plate is provided with suction holes which are arranged in a matrix, and the suction holes are communicated with the vacuum cavity; The vacuum generator is arranged on the upper side face of the upper cover plate, the adapter plate is connected with the upper side face of the upper cover plate and is located in the central area of the upper cover plate, so that the clamp structures located on the two sides of the adapter plate are symmetrical. Preferably, the processor module is configured to obtain a preset weight of each target object and a preset number of grabs of each target object, determine an actual number of grabs of the target object according to the overall weight data and the weight of each target object, and compare the actual number of grabs of the target object with the preset number of grabs of each target object to determine whether to perform multi-grabbing on the target object. Preferably, the processor module is configured to obtain a preset weight of each target object and a preset number of grabs of each target object, determine an actual number of grabs of the target object according to the overall weight data and the weight of each target object, and compare the actual number of grabs of the target object with the preset number of grabs of each target object to determine whether a piece drop occurs in the movement of the target object. Preferably, the upper cover plate and the lower cover plate are connected to form an integral struc