• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a load pick-up / weighing goods adapter with a base plate (12) from the top of which several equidistant, parallel support webs (14) rise, with a virtual enveloping surface that clings to the upper edges of all support webs (14) and a circular, over the center of the base plate (12) arranged, has trough (16). The invention also relates to a method for transferring a weight to a weighing robot.
    公开号:CH712510B1
    申请号:CH00677/17
    申请日:2017-05-24
    公开日:2021-02-15
    发明作者:Dr Thomas Fröhlich Prof；Mühlich Sigo；Falko Hilbrunner Dr；Fehling Thomas；schreiber Mario
    申请人:Sartorius Lab Lnstruments Gmbh & Co Kg；
    IPC主号:
    专利说明:

    Field of invention
    The invention relates to automated weighing robots, in particular operating methods and aids therefor.
    State of the art
    Weighing robots are known from DE 103 00 626 B3. They are used for the automated, comparative weighing of different, mainly cylindrical weights that are stored in a depot. Such weighing robots are used in particular for calibration tasks. An area of the depot, referred to here as the test warehouse, is equipped with test weights to be calibrated. An area of the depot designated here as the reference bearing is equipped with reference weights of known mass and uncertainty. The depot is usually located in a protective housing together with a weighing device, in particular a precision comparator. In addition, a handling device is positioned in the protective housing, which is used to transfer the weights from the depot to a load pick-up of the weighing device. This handling device comprises at least one lifter that can move under the weights and can be raised or lowered together with them. For this purpose, the lifter is designed like a comb, as is known, for example, from DE 103 00 626 B3. The storage locations of the depot and the load pick-up have support webs which are dimensioned and arranged to correspond to the prongs of the lifter, between which the prongs of the lifter can grip. The slots between the support webs are open both at the top and on their side facing the lifter, so that the lifter, in order to drive under a weight, can move its prongs horizontally between the support webs and move vertically out of the support webs together with the weight can. Conversely, in order to set down a weight piece, the lifter can first travel vertically between the support webs until the weight piece is placed on their upper edges, and then move horizontally out of the support webs.
    In order to be able to position the weights on the lifter in a reproducible manner, it is known from the aforementioned document to provide the lifter with recesses in the upper edges of its prongs so that a virtual envelope surface that clings to the upper edges of the prongs forms a centering trough. If the relative position of the weight piece to the lifter is known in this way, the transfer position of the weight piece to the load receiver can also be precisely defined by precisely controlling the handling device.
    Also known, for example from DE 44 05 132 A1, are self-centering load receptacles with a base part and a swinging part which, when a weight piece is off-center, shifts centering relative to the base part and thus transfers the weight piece to a better centered position. Briefly lifting the weight piece and putting it back on again causes the vibrating part to swing back into its starting position, but the weight piece remains in the better centered position relative to the base part. Repeating this process several times gradually leads to precise centering of the weight on the load receiver.
    A disadvantage of the known devices and methods is that they are designed exclusively for non-spherical weights. Spherical reference weights in particular are becoming increasingly important in view of the planned redefinitions of mass ("Avogadro project").
    Task
    It is the object of the present invention to provide tools and methods that make it possible to handle spherical weights with known weighing robots.
    Statement of the invention
    According to the invention a load / weighing adapter with a base plate is provided to solve this problem, from the top of which rise several equidistant, parallel support webs, with a clinging to the upper edges of the support webs, virtual enveloping surface a circular, above the Has the center of the base plate arranged trough.
    Such an adapter is required to carry out a method provided to solve the above-mentioned task for transferring a weight from a storage platform with several equidistant, parallel support webs on which the weight rests at least indirectly, to a self-centering load bearing also with several equidistant, parallel Support webs by means of a comb-shaped lifter, the prongs of which are dimensioned and arranged to correspond to the support webs, the method according to the invention being characterized by the following steps:Positioning of an adapter according to the invention by means of the jack on the load pick-up, the prongs of the jack reaching between the support webs of the load pick-up,Positioning the weight piece on the adapter by means of the lifter, the prongs of the lifter reaching between the support bars of the adapter,at least one lifting and lowering of the adapter together with the weight piece positioned on it by means of the lifter, the prongs of the lifter reaching between the support webs of the load pickup.
    Due to its preferably concave dome-shaped trough, the adapter offers a secure support for spherical weights. There is therefore no need to modify the load pick-up itself. This is particularly advantageous since the load pick-up thus also remains readily suitable for all other forms of weights. Due to the adaptation of the design of the adapter with parallel support bars to the identical design of the load pick-up, the weight piece can be placed on the adapter or lifted off the adapter in principle in the same way as was previously practiced with conventional weight pieces, which are directly on the Load pick-up have been positioned: The lifter carrying the weight is lowered vertically, with its prongs reaching between the support bars of the adapter until the weight rests on the adapter. The prongs of the jack can then be moved horizontally out of the spaces between the support webs. Lifting off the weight is done in reverse.
    However, it is not possible to center a spherical weight piece relative to the adapter. Rather, the trough shape of the adapter precisely specifies a relative positioning. According to the method according to the invention, it is therefore provided that, instead of the weight piece, the adapter with the weight piece placed on it is centered relative to the load bearing. In this regard, the weight piece and adapter are treated as a coherent “superweight”. The lifter moves with its prongs horizontally between the support bars of the load pick-up and moves vertically upwards to lift the adapter and the weight piece together and to give the self-centering load pick-up the opportunity to swing back into its neutral position. The adapter and the weight piece are then placed together again on the load suspension in a better centered position. This can be done iteratively until a sufficient centering accuracy is achieved.
    In addition to the secure positioning of the spherical weight piece on the load bearing, secure positioning of the weight piece on the lifter is of course also required to carry out the method according to the invention. Several possibilities are open to the person skilled in the art for this purpose. For example, it is conceivable to form a second trough on the upper edges of the lifter tines, as is basically known from the prior art cited at the beginning. However, the formation of hollows in the jack has proven to be disadvantageous for various reasons. It therefore appears more favorable, as provided in a further development of the invention, if the ball-shaped weight piece at the beginning of the method according to the invention rests on a spherical carrier in the form of an open partial ring, which lies on the support webs of the storage platform, the closed side of which faces the lifter and whose The opening width is greater than the diameter of the adapter, the base plate of which is preferably designed in the shape of a circular disk. In this embodiment, the weight piece does not rest directly, but indirectly on the support webs of its storage platform. The ball carrier thus forms a storage platform / weighing goods adapter which, together with the weight, is lifted from its storage platform by means of the lifter, which therefore does not require any modification compared to the prior art. When carrying out the method according to the invention explained above, the lifter in its state loaded with the ball carrier and weight piece is lowered onto the adapter according to the invention resting on the load pick-up. Since the opening width of the partial ring of the ball carrier and thus of course the clear diameter of the partial ring is larger than the diameter of the adapter according to the invention, the partial ring can pass the adapter concentrically and without contact when lowering, so that the spherical weight piece when the lifter is lowered from the ball carrier to the inventive adapter Adapter is passed. Even when the lifter is subsequently withdrawn horizontally, the ball carrier and the adapter do not touch because of the specially selected opening width of the partial ring. The ball carrier thus remains on the jack and can, for example, be moved back to the storage platform of the weight item in the depot. A lifting of the spherical weight piece from the adapter according to the invention takes place in the opposite manner and preferably likewise with the aid of the ball carrier described.
    As explained, the adapter according to the invention remains with the spherical weight on the load bearing. This means that its weight is also included in the weighing of the weight. However, this is not disadvantageous since the invention, as described at the beginning, relates to comparative weighings. What is of interest here is not the absolute weight of a test weight, but rather its weight difference to a reference weight. Such a differential measurement can be carried out without any loss of precision if an additional weight, for example that of the adapter according to the invention, is also weighed in both measurement processes. If a first, spherical weight piece is weighed with the aid of the adapter according to the invention and then a second weight piece, which is placed on the adapter instead of the first weight piece, a comparison of the two weighings provides the same difference result as with weighings without an adapter. It is only necessary that the second weight, regardless of its shape, can also be positioned on the adapter.
    Typically, only the high-precision reference weight pieces are spherical. In contrast, the test weights to be calibrated are usually cylindrical. In a further development of the adapter according to the invention, it is therefore provided that the trough edge of the enveloping surface trough is surrounded by a flat annular surface. This can serve as a support for a cylindrical weight piece.
    However, the correct centering of the weight pieces and the adapter according to the invention on the load receiver can be problematic. Corner load errors must be avoided both when weighing the spherical weight and when weighing the cylindrical weight. A method for alternately weighing a spherical and a cylindrical weight piece is advantageously carried out according to the following steps: First, the adapter according to the invention and the spherical weight piece, as described above, are placed on the load receiver. Then the total weight on the load suspension is weighed, i.e. the sum of the weights of the adapter and the spherical weight. The spherical weight is then removed again from the load bearing with the aid of the partially annular spherical carrier. For example, it can be returned to its storage platform in the depot. In embodiments in which the lifter has several lifter elements offset by 90 ° to one another, as is known from DE 103 00 625 B3 and DE 103 00 626 B3, the spherical weight piece including ball carrier can also be placed on the lifter until the end of the process remain on the jack and only be returned to the depot later. The adapter according to the invention remains in an unchanged position on the load receiver in any case. The cylindrical weight piece is then positioned on the adapter by means of the lifter, the prongs of the lifter engaging between the support webs of the adapter. Preferably, the base of the cylindrical weight piece - if present - is placed on the annular trough edge of the adapter. It is not excluded that the cylindrical weight piece is placed in a not optimally centered manner. For centering, the cylindrical weight piece is raised and lowered again at least once by means of the lifter, the prongs of the lifter engaging between the support webs of the adapter. In other words, the cylindrical weight piece is centered relative to the adapter. In other words, in this context the adapter and the actual load pick-up are viewed together as a “super load pick-up”. This ensures that the spherical and cylindrical weights are centered exactly the same relative to the load bearing.
    In the self-centering of the load absorption, in addition to translational movements, unwanted, parasitic rotational movements about the vertical can also occur. This is not a problem when handling rotationally symmetrical weights. However, the adapter according to the invention is not rotationally symmetrical due to its support web structure. It is true that the rotations that result per centering step are usually very small, so that if the relative dimensioning of the support web width and support web spacing is sensible, there is no risk of the support webs colliding with the prongs of the lifter. In the course of a large number of weighing processes to be carried out one after the other, however, these rotations can add up to a total rotation of the adapter in which such a collision is no longer excluded. This could be countered by regular checks and corrections of the adapter alignment in the depot.
    [0016] However, an automatic correction appears more favorable. For this purpose, it is provided in a preferred development of the invention that the bottom plate of the adapter has at least one standing web running transversely to the support webs on its underside. This standing web, which runs transversely to the supporting webs of the load pick-up or the storage platform in the magazine, serves as a “foot” of the adapter. At the same time, however, it also serves as an alignment aid in a further development of the method according to the invention, which is characterized in that the lifter has a transverse groove corresponding to the base of the adapter and after completion of the weighing process, ie when the adapter is cleared away from the weighing platform again, with the The transverse groove is moved under the footbridge so that the footbridge slides into the transverse groove when the jack is lifted. As mentioned, the rotations of the adapter that result during a weighing process are typically very small. Particularly in the case of a wedge-shaped configuration of the transverse groove and / or the standing web, they are usually so small that the standing web and the transverse groove are not sufficiently inclined to one another that the standing web would span the transverse groove in a stable manner. Rather, it will slide into the transverse groove driven by gravity when it is lifted and cause a corrective rotation of the adapter.
    Of course, such an alignment correction of the adapter should not take place between two weighing steps of a differential weighing process. As explained above, the adapter should not be changed in its position and / or orientation between the two weighing steps of a differential weighing process. It therefore appears beneficial if the transverse groove is arranged in a rear axial area of the lifter that is not used during “normal” positioning processes. During normal positioning processes, the transverse groove should not come so close to the base that it would slide into one another. This is reserved for explicit correction processes or at most positioning processes at the beginning of a differential weighing process.
    [0018] Further features and advantages of the invention emerge from the following specific description and the drawings.
    Brief description of the drawings
    The figures show: FIG. 1: a perspective view of an embodiment of an adapter according to the invention, FIG. 2: an embodiment of a ball carrier, FIG. 3: a detail of a depot of a weighing robot, FIG. 4: an illustration of a first method step of the method according to the invention, FIG 5: an illustration of a second method step of the method according to the invention, FIG. 6: an illustration of a third method step of the method according to the invention, FIG. 7: an illustration of a fourth method step of the method according to the invention and FIG. 8: an illustration of a fifth method step of the method according to the invention.
    Description of preferred embodiments
    Identical reference symbols in the figures indicate identical or analogous elements.
    Figure 1 shows a perspective view of an embodiment of a load / weighing adapter 10 according to the invention. The adapter 10 comprises a circular disk-shaped base plate 12 from which equidistant, parallel support webs 14 rise upwards. In the central area of the adapter 10, the upper edges of the support webs 14 have recesses which together form a depression 16 in the otherwise flat surface of the adapter 10. The person skilled in the art recognizes that the information “trough”, “flat”, “surface” etc. relate to a virtual enveloping surface which connects the upper edges of the support webs 14 to one another. Such an adapter 10 can be used to carry out an automated, comparative weighing process by means of a weighing robot.
    Figure 3 shows the depot of such a robot. It comprises several storage platforms 20, each of which consists of a base plate 22, from which parallel, equidistant support webs 24 rise upwards. The support webs 24 of the storage platforms 20 are preferably dimensioned the same as the support webs 14 of the adapter 10 in terms of width and spacing. In Figure 3, three such storage platforms 20 are occupied. The adapter 10 rests on a first storage platform 20. A cylindrical weight piece 30 rests on a second storage platform 20. In addition, a third, table-shaped storage platform 20 is shown in FIG. A spherical weight piece 40 rests indirectly on this. A spherical carrier 50 is arranged between the third bearing platform 20 and the spherical weight piece 40, as shown in isolation in FIG. The spherical carrier 50 comprises a base 52 on which a partially annular base 54 is adjustably mounted. The diameter of the partial ring 54 is smaller than the diameter of the spherical weight piece, but larger than the diameter of the base plate 12 of the adapter 10. The opening 56 of the partial ring 54 is also larger than the diameter of the base plate 12 of the adapter 10. The base 52 of the ball carrier 50 has a downwardly projecting edge 58, the meaning of which will be discussed in greater detail below.
    The following is a step-by-step description of a method which is used for comparative weighing of the spherical weight piece 40 as a reference weight piece and the cylindrical weight piece 30 as a test weight piece.
    The method is based on a situation as shown in FIG.
    It uses a comb-like lifter 60 of a handling robot that is otherwise not shown. The lifter 60 has a base plate 62 from which prongs 64 extend horizontally forward. The prongs 64 of the lifter 60 are dimensioned such that they can engage vertically and horizontally between the support webs 14, 24 of the adapter 10 or the storage platforms 20. First, the adapter 10 is placed on a load receptacle 70 of a weighing device by means of the lifter. The load suspension 70 has a base plate 72 from which parallel and equidistant support webs 74 extend upward. The support webs 74 of the load receiver 70 are preferably dimensioned the same as the support webs 14, 24 of the adapter 10 or the storage platforms 20. To connect the adapter 10 from its storage platform 20 to the load receiver 70, the jack 60 first moves its prongs 64 horizontally between the support webs 24 of the storage platform 20, in order to then lift the adapter 10 when it is raised vertically. The lifter 60 then moves into the area above the load pick-up 70. This situation is shown in FIG. The lifter 60 then moves vertically downwards, with its prongs 64 engaging between the support webs 74 of the load receptacle 70. The adapter 10 is placed with its base plate 12 on the upper edges of the support webs 74 of the load receiver 70. The lifter 60 can then be withdrawn horizontally.
    In a next step, by means of the same or, as shown in FIG. 5, a second lifter 60 with similarly dimensioned prongs 64, the spherical weight piece 40 including the ball carrier 50 can be received by the adapter from its storage platform 20 in a similar manner as before. The downwardly extending edges 58 of the base 52 of the ball carrier 50 mentioned in connection with FIG. 2 serve here for the centered reception of the ball carrier 50 by the lifter 60, as can be seen in FIG. The jack 60 is then moved over the adapter 10 positioned on the load receptacle 70; this situation is shown in FIG. When the lifter 60 is then lowered, its prongs 64 grip between the support webs 74 of the load receptacle 70, whereas the ball carrier 50 does not contact the adapter 10. This is due to the relative dimensioning of the diameters of both elements described above. In this way, the spherical weight 40 is placed on the adapter. The lifter 60 can then be withdrawn horizontally together with the ball carrier 50. The result is the situation shown in FIG. 6, in which the spherical weight piece 40 is securely mounted on the adapter 10, which rests on the load receiver 70.
    To optimally center the spherical weight 40, the lifter 60 is used again. As shown in FIG. 7, it lifts the spherical weight 40 together with the adapter 10 so that the load receiver 70, which is designed as a self-centering weighing pan, can swing back into its neutral position if necessary. Then adapter 10 and spherical weight 40 are placed back on. This step can be repeated several times until a sufficiently precise centering has taken place.
    In this situation, the weighing of the spherical weight piece 40 (including the adapter weight) can take place.
    The spherical weight piece 10 is then lifted off again by means of the lifter 60 and with the aid of the ball carrier 50 and brought to the storage platform 20 in the depot. This takes place essentially in the reverse order to the above-described placing of the spherical weight piece 40 on the adapter 10.
    In the next step, the cylindrical weight 30 is positioned on the adapter. For this purpose, the lifter 60 moves with its prongs 64 between the support webs 24 of the storage platform 20 in order to then lift the cylindrical weight 30 when it is raised vertically. The lifter 60 then moves over the load pickup 70, in particular over the adapter 10 resting thereon. During the subsequent lowering, the prongs 64 of the lifter 60 grip between the support webs 14 of the adapter 10. This situation is shown in FIG.
    To center the cylindrical weight piece 30, it can be lifted off the adapter 10 again and placed back on again until a sufficiently precise centering is achieved. The lifter 60 is then withdrawn horizontally.
    In this situation, the weighing of the cylindrical weight piece 30 (including adapter weight) can take place.
    A comparison of the measured values obtained in the two weighings leads to the determination of the exact differential weight between the cylindrical weight piece 30 and the spherical weight piece 40.
    Of course, the embodiments discussed in the specific description and shown in the figures are only illustrative embodiments of the present invention. In the light of the disclosure here, a person skilled in the art is provided with a wide range of possible variations. In particular, the method according to the invention can also be used to compare the mass of two spherical weights. The person skilled in the art will also understand that the component referred to here as “the lifter 60” can certainly be an element of a more complex lifter arrangement or, as indicated in the figures by the different shape, can be represented by several different elements of such a complex lifter arrangement.
    List of reference symbols
    10 adapter 12 base plate of 10 14 support web of 10 16 trough 20 storage platform 22 base plate of 20 24 support web of 20 30 cylindrical weight 40 spherical weight 50 spherical support 52 base plate of 50 54 partial ring of 50 56 opening of 54 58 edge of 52 60 Jack 62 base from 60 64 tine from 60 70 load bearing 72 base plate from 70 74 support web from 70
    权利要求:
    Claims (8)
    [1]
    1. Load suspension / weighing goods adapter (10) with a base plate (12) from the top of which a plurality of equidistant, parallel support webs (14) rise, with a virtual enveloping surface nestling against the upper edges of all support webs (14) a circular, above the Has the center of the base plate (12) arranged, trough (16).
    [2]
    2. Load / weighing adapter (10) according to claim 1,characterized,that the bowl edge is surrounded by a flat ring surface.
    [3]
    3. Load receiving / weighing goods adapter (10) according to one of the preceding claims,characterized,that the bottom plate (12) has at least one standing web running transversely to the supporting webs (14) on its underside.
    [4]
    4. Load receiving / weighing goods adapter (10) according to one of the preceding claims,characterized,that the base plate (12) is designed in the shape of a circular disk.
    [5]
    5. A method for transferring a weight (30, 40) from a storage platform (20) with several equidistant, parallel support webs (24), on which the weight (30, 40) rests at least indirectly, to a passive self-centering load pick-up (70) a Weighing device with also several equidistant, parallel support webs (74) by means of a comb-shaped lifter (60), the prongs (64) of which are dimensioned and arranged to correspond to the support webs (14, 24, 74),characterized by the following steps:- Positioning of a load pickup / weighing goods adapter (10) according to one of claims 1 to 4 by means of the lifter (60) on the load pickup (70), the prongs (64) of the lifter (60) between the support webs (74) of the load pickup (70) grab,- Positioning of the weight piece (30, 40) by means of the lifter (60) on the load receiving / weighing goods adapter (10), the prongs (64) of the lifter (60) between the supporting webs (14) of the load receiving / weighing goods adapter ( 10) grab,- At least one lifting and lowering of the adapter (10) together with the weight piece (30, 40) positioned on it by means of the lifter (60), the prongs (64) of the lifter (60) between the support webs (74) of the load receiver (70 ) to grab.
    [6]
    6. The method according to claim 5,characterized,that the weight piece (40) is spherical and at the beginning of the method rests on a spherical carrier (50) in the form of an open partial ring (54) which lies on the support webs (24) of the storage platform (20), the closed side of which the lifter ( 60) and its opening width (56) is greater than the diameter of the load-bearing / weighing goods adapter (10).
    [7]
    7. A method for alternately weighing a spherical (40) and a cylindrical (30) weight, comprising the steps of:- carrying out the method according to claim 6,- Weighing the total weight on the load support (70),- Removal of the spherical weight piece (40) from the load suspension (70) by means of the lifter (60) with the aid of the ball carrier (50),- Positioning of the cylindrical weight piece (30) by means of the lifter (60) on the load receiving / weighing object adapter (10), whereby the prongs (64) of the lifter (60) between the supporting webs (14) of the load receiving / weighing object adapter (10 ) to grab,- At least one lifting and lowering of the cylindrical weight piece (30) by means of the lifter (60), the prongs (64) of the lifter (60) engaging between the support webs (14) of the load-bearing / weighing object adapter (10), and- Weighing of the total weight on the load receptacle (70).
    [8]
    8. The method according to claim 7 using a load / weighing goods adapter according to claim 3,characterized,that the lifter (60) has a transverse groove corresponding to the base of the load pick-up / weighing goods adapter (10) and, after the second weighing step has been completed, the transverse groove is moved under the base, so that when the lifter (60) is lifted, the base into the Transverse groove slides.
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    同族专利:
    公开号 | 公开日
    DE102016109743B4|2021-12-09|
    CH712510A2|2017-11-30|
    DE102016109743A1|2017-11-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE1000625B|1954-07-13|1957-01-10|Josef Roiser|Mobile manure spreader|
    DE4405132A1|1993-03-23|1994-09-29|Sartorius Gmbh|Self-centring weighing pan for a top-pan balance, especially a high resolution precision balance|
    CH694475A5|1999-07-08|2005-01-31|Mettler Toledo Gmbh|A method of operating a balance and apparatus for performing the method.|
    DE10300626B3|2003-01-10|2004-03-25|Sartorius Ag|Balance rapid loading device, has gripper with at least two weighing goods carriers for individually handling weighing goods on load receptacle|
    DE102007060545B8|2007-12-13|2009-09-10|Sartorius Ag|Apparatus and method for charging with conductive weights|
    PL231709B1|2016-05-25|2019-03-29|Lewandowski Witold Radwag Wagi Elektroniczne|Automatic comparator of weight standards|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016109743.8A|DE102016109743B4|2016-05-26|2016-05-26|Operating procedure for a weighing robot|
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