CN109592404A - A kind of efficient handling equipment of electric energy meter and method - Google Patents
A kind of efficient handling equipment of electric energy meter and method Download PDFInfo
- Publication number
- CN109592404A CN109592404A CN201910061592.0A CN201910061592A CN109592404A CN 109592404 A CN109592404 A CN 109592404A CN 201910061592 A CN201910061592 A CN 201910061592A CN 109592404 A CN109592404 A CN 109592404A
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- manipulator
- electric energy
- energy meter
- transplanting mechanism
- longitudinal direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of efficient handling equipment of electric energy meter and method, it is related to electric energy meter measurement verification technical field, and in particular to a kind of efficient handling equipment of electric energy meter and method.Its loading and unloading method is: the manipulator of two groups of linkages cooperates, it is that electric energy meter loading and unloading work is shared by one group of original manipulator for two groups of manipulators, first manipulator is responsible for turnover box and the electric energy meter of intermediate station picks and places, and the second manipulator is responsible for intermediate station and the electric energy meter of working plate picks and places.When the first manipulator takes electric energy meter in turnover box, second manipulator takes the electric energy meter on intermediate station simultaneously, when electric energy meter is put into intermediate station by the first manipulator, electric energy meter is put into working plate by the second manipulator, substitute the work that original robot acts twice, first manipulator and the second manipulator move simultaneously, realize the work of electric energy meter loading and unloading.After adopting the above technical scheme, the invention has the following beneficial effects: it in such a way that two groups of manipulators link, to save the time of electric energy meter loading and unloading.
Description
Technical field
The present invention relates to electric energy meter measurement verification technical fields, and in particular to a kind of efficient handling equipment of electric energy meter and side
Method.
Background technique
Electric energy meter measurement verification has entered automation age, and the loading and unloading of electric energy meter refer to arrives electric energy meter in turnover box
The work carried in streamline working plate is examined and determine, mostly completes the work of loading and unloading in industry using industrial robot, by
There is certain gap in the tolerance in the tolerance and working plate that electric energy meter in turnover box is placed, it is when robot picks and places electric energy meter such as direct
There is certain probability that electric energy meter is caused to can't be put in situation when being put into working plate or turnover box, so need to be by intermediate station to electric energy
Table place into working plate or turnover box after secondary positioning.This process needs robot to carry out the completion of substep movement twice.
For high-volume electric energy meter calibration, the movement of substep can reduce efficiency beat to the time for increasing loading and unloading work, so design
A kind of efficient loading and unloading method of the electric energy meter that can work continuously is very necessary.
Summary of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of efficient handling equipments of electric energy meter
And method, it is due in such a way that two groups of manipulators link, so that needing the feeding movement of two steps work originally becomes a step
It solves, to save the time of electric energy meter loading and unloading.
To achieve the above object, the present invention is using following technical scheme: it includes the first manipulator 1, turnover box 2, the
Two manipulators 3, working plate 4, intermediate station 5, first longitudinal direction transplanting mechanism 6, first lateral transplanting mechanism 7, the first manipulator clamping jaw
8, second longitudinal direction transplanting mechanism 9, second lateral transplanting mechanism 10, the second manipulator clamping jaw 11, the first manipulator 1 setting
On first longitudinal direction transplanting mechanism 6, the second manipulator 3 is arranged on second longitudinal direction transplanting mechanism 9, the first lateral transplanting mechanism 7
It is connected with the left side of the second lateral transplanting mechanism 10 by first longitudinal direction transplanting mechanism 6, the first lateral transplanting mechanism 7 and second is horizontal
It is connected to the right side of transplanting mechanism 10 by second longitudinal direction transplanting mechanism 9, the lower section of first longitudinal direction transplanting mechanism 6 is provided with first
Manipulator clamping jaw 8, the lower section of the first manipulator clamping jaw 8 are provided with turnover box 2, and the right side of turnover box 2 is provided with intermediate station 5, the
The lower section of two longitudinal transplanting mechanisms 9 is provided with the second manipulator clamping jaw 11, and the west of the second manipulator clamping jaw 11 is provided with tooling
Plate 4, its loading and unloading method is: the manipulator of two groups of linkages cooperates, and is electric energy meter loading and unloading work by original one group
Manipulator is shared for two groups of manipulators, and the first manipulator 1 is in the lateral transplanting mechanism 7, first of first longitudinal direction transplanting mechanism 6, first
Under the cooperation of manipulator clamping jaw 8, the electric energy meter for being responsible for turnover box 2 and intermediate station 5 is picked and placed, and the second manipulator 3 is moved in second longitudinal direction
Under the cooperation for planting the lateral transplanting mechanism 10 of mechanism 9, second, the second manipulator clamping jaw 11, it is responsible for the electricity of intermediate station 5 and working plate 4
It can table pick-and-place.When the first manipulator 1 takes electric energy meter in turnover box 2, the second manipulator 3 takes the electric energy on intermediate station 5 simultaneously
Table, when electric energy meter is put into intermediate station 5 by the first manipulator 1, electric energy meter is put into working plate 4 by the second manipulator 3, substitutes original machine
The work that device people acts twice, the first manipulator 1 and the second manipulator 3 move simultaneously, real under the premise of saving half the time
The work of existing electric energy meter loading and unloading.
The structure of first manipulator 1 is identical as the structure of the second manipulator 3.
First manipulator 1 and the second manipulator 3 is plug-in manipulator, i.e., the two groups right angles being installed together are sat
Mark manipulator.
The structure of the lateral transplanting mechanism 7 of described first is identical as the second lateral structure of transplanting mechanism 10.
The working principle of the invention: the first manipulator 1 is responsible for the handling work of electric energy meter between turnover box 2 and intermediate station 5,
Second manipulator 3 is responsible for the electric energy meter handling work between intermediate station 5 and working plate 4, the control of first longitudinal direction transplanting mechanism 6 first
The up and down motion of manipulator clamping jaw 8, the first manipulator clamping jaw 8 pick up the electric energy meter in turnover box 2, then laterally by first
Transplanting mechanism 7 and the second lateral transplanting mechanism 10 do transverse movement, and the first manipulator clamping jaw 8 grabs the electric energy meter in turnover box 2
To on intermediate station 5, the second manipulator clamping jaw 11 is then controlled by second longitudinal direction transplanting mechanism 9 and is moved up and down, passes through the first cross
Transverse movement is done to transplanting mechanism 7 and the second lateral transplanting mechanism 10, thus by the electric energy meter between intermediate station 5 and working plate 4
It is carried, passes through the first manipulator 1, the second manipulator 3, the lateral transplanting mechanism 7, first of first longitudinal direction transplanting mechanism 6, first
Cooperation between the lateral transplanting mechanism 10 of manipulator clamping jaw 8, second longitudinal direction transplanting mechanism 9, second, the second manipulator clamping jaw 11 into
Row feeding and blanking.
After adopting the above technical scheme, the invention has the following beneficial effects: it is due to making in such a way that two groups of manipulators link
Obtaining the feeding movement for needing two steps to work originally becomes step solution, to save the time of electric energy meter loading and unloading.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is plug-in manipulator general illustration；
Fig. 2 is plug-in manipulator structure chart.
Description of symbols: the first manipulator 1, turnover box 2, the second manipulator 3, working plate 4, intermediate station 5, first longitudinal direction
The lateral transplanting mechanism 7 of transplanting mechanism 6, first, the first manipulator clamping jaw 8, the lateral transplanter of second longitudinal direction transplanting mechanism 9, second
Structure 10, the second manipulator clamping jaw 11.
Specific embodiment
Referring to shown in Fig. 1-Fig. 2, present embodiment is the technical solution adopted is that it includes the first manipulator 1, turnover
The lateral transplanting mechanism 7, first of case 2, the second manipulator 3, working plate 4, intermediate station 5, first longitudinal direction transplanting mechanism 6, first is mechanical
Hand clamping jaw 8, second longitudinal direction transplanting mechanism 9, second lateral transplanting mechanism 10, the second manipulator clamping jaw 11, the setting of the first manipulator 1
On first longitudinal direction transplanting mechanism 6, the setting of first longitudinal direction transplanting mechanism 6 is in the first lateral transplanting mechanism 7 and the second laterally transplanting
The left side of mechanism 10, the second manipulator 3 are arranged on second longitudinal direction transplanting mechanism 9, and second longitudinal direction transplanting mechanism 9 is arranged first
The right side of lateral transplanting mechanism 7 and the second lateral transplanting mechanism 10, the first lateral transplanting mechanism 7 and the second lateral transplanting mechanism 10
For parallelly distribute on, the lower section of first longitudinal direction transplanting mechanism 6 is provided with the first manipulator clamping jaw 8, under second longitudinal direction transplanting mechanism 9
Side is provided with the second manipulator clamping jaw 11, and the lower section of the second manipulator clamping jaw 11 is provided with working plate 4, and the left side of working plate 4 is set
It is equipped with intermediate station 5, the left side of intermediate station 5 is provided with turnover box 2, and the first manipulator 1 is responsible between turnover box 2 and intermediate station 5 electric
The handling work of energy table, the second manipulator 3 are responsible for the electric energy meter handling work between intermediate station 5 and working plate 4, the first manipulator
First lateral transplanting mechanism 7 is responsible for the transverse shifting of whole group manipulator in 1, and first longitudinal direction transplanting mechanism 6 is responsible for whole group manipulator
Longitudinal movement, the first manipulator clamping jaw 8 is responsible for the handling work of electric energy meter；Second manipulator, 3 structure and the first manipulator 1
Structure is identical, wherein the second lateral transplanting mechanism 10 is responsible for the transverse shifting of whole group manipulator, second longitudinal direction transplanting mechanism 9 is responsible for
The longitudinal movement of whole group manipulator, the second manipulator clamping jaw 11 are responsible for the handling work of electric energy meter, when feeding, the first manipulator 1
The first lateral transplanting mechanism 7 and the second transverse direction transplanting mechanism 10 of the second manipulator 3 run simultaneously, arrive separately at turnover box 2
With the top of intermediate station 5, the second longitudinal direction transplanting mechanism of the first longitudinal direction transplanting mechanism 6 of the first manipulator 1 and the second manipulator 3
9 move downward, and the first mechanical grip 8 and the second mechanical grip 11 will be run to the access position of electric energy meter, and clamping or vacuum are inhaled
Take electric energy meter, later the second longitudinal direction transplanting mechanism 9 of the first longitudinal direction transplanting mechanism 6 of the first manipulator 1 and the second manipulator 3 to
Upper movement reaches initial position, the second laterally transplanting of the lateral transplanting mechanism 7 of the first of the first manipulator 1 and the second manipulator 3
Mechanism 10 is run simultaneously, arrives separately at the top of intermediate station 5 and working plate 4, the first longitudinal direction transplanting mechanism 6 of the first manipulator 1
It is moved downward with the second longitudinal direction transplanting mechanism 9 of the second manipulator 3, the first mechanical grip 8 and the second mechanical grip 11 will operations
To the access position of electric energy meter, electric energy meter is put down, later the first longitudinal direction transplanting mechanism 6 of the first manipulator 1 and the second manipulator 3
Second longitudinal direction transplanting mechanism 9 move upwards, return to initial position, complete the feeding work of electric energy meter, original machine is artificial
Six-DOF robot.
The working principle of the invention: the first manipulator 1 is responsible for the handling work of electric energy meter between turnover box 2 and intermediate station 5,
Second manipulator 3 is responsible for the electric energy meter handling work between intermediate station 5 and working plate 4, the control of first longitudinal direction transplanting mechanism 6 first
The up and down motion of manipulator clamping jaw 8, the first manipulator clamping jaw 8 pick up the electric energy meter in turnover box 2, then laterally by first
Transplanting mechanism 7 and the second lateral transplanting mechanism 10 do transverse movement, and the first manipulator clamping jaw 8 grabs the electric energy meter in turnover box 2
To on intermediate station 5, the second manipulator clamping jaw 11 is then controlled by second longitudinal direction transplanting mechanism 9 and is moved up and down, passes through the first cross
Transverse movement is done to transplanting mechanism 7 and the second lateral transplanting mechanism 10, thus by the electric energy meter between intermediate station 5 and working plate 4
It is carried, passes through the first manipulator 1, the second manipulator 3, the lateral transplanting mechanism 7, first of first longitudinal direction transplanting mechanism 6, first
Cooperation between the lateral transplanting mechanism 10 of manipulator clamping jaw 8, second longitudinal direction transplanting mechanism 9, second, the second manipulator clamping jaw 11 into
Row feeding and blanking.
After adopting the above technical scheme, the invention has the following beneficial effects: it is due to making in such a way that two groups of manipulators link
Obtaining the feeding movement for needing two steps to work originally becomes step solution, to save the time of electric energy meter loading and unloading.
The above is only used to illustrate the technical scheme of the present invention and not to limit it, and those of ordinary skill in the art are to this hair
The other modifications or equivalent replacement that bright technical solution is made, as long as it does not depart from the spirit and scope of the technical scheme of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (6)
1. a kind of efficient handling equipment of electric energy meter, it is characterised in that: it includes the first manipulator (1), turnover box (2), second
Manipulator (3), working plate (4), intermediate station (5), first longitudinal direction transplanting mechanism (6), the first lateral transplanting mechanism (7), the first machine
Tool hand clamping jaw (8), second longitudinal direction transplanting mechanism (9), the second lateral transplanting mechanism (10), the second manipulator clamping jaw (11) are described
The first manipulator (1) be arranged on first longitudinal direction transplanting mechanism (6), the second manipulator (3) be arranged in second longitudinal direction transplanter
On structure (9), the left side of the first lateral transplanting mechanism (7) and the second lateral transplanting mechanism (10) passes through first longitudinal direction transplanting mechanism
(6) it connects, the right side of the first lateral transplanting mechanism (7) and the second lateral transplanting mechanism (10) passes through second longitudinal direction transplanting mechanism
(9) it connects, is provided with the first manipulator clamping jaw (8) below first longitudinal direction transplanting mechanism (6), the first manipulator clamping jaw (8)
Lower section is provided with turnover box (2), is provided on the right side of turnover box (2) intermediate station (5), the lower section of second longitudinal direction transplanting mechanism (9)
It is provided with the second manipulator clamping jaw (11), is provided with working plate (4) below the second manipulator clamping jaw (11).
2. a kind of method of the efficient loading and unloading of electric energy meter, it is characterised in that: the method is the manipulator collaboration of two groups of linkages
Work is that electric energy meter loading and unloading work is shared by one group of original manipulator for two groups of manipulators, and the first manipulator (1) is first
Longitudinal transplanting mechanism (6), the first lateral transplanting mechanism (7), the first manipulator clamping jaw (8) cooperation under, be responsible for turnover box (2) and
The electric energy meter of intermediate station (5) picks and places, and the second manipulator (3) is in second longitudinal direction transplanting mechanism (9), the second lateral transplanting mechanism
(10), under the cooperation of the second manipulator clamping jaw (11), the electric energy meter for being responsible for intermediate station (5) and working plate (4) is picked and placed.
3. the second manipulator (3) takes on intermediate station (5) simultaneously when the first manipulator (1) takes electric energy meter in turnover box (2)
Electric energy meter, when electric energy meter is put into intermediate station (5) by the first manipulator (1), electric energy meter is put into working plate by the second manipulator (3)
(4), the work that original robot acts twice is substituted, the first manipulator (1) and the second manipulator (3) move simultaneously, realize electricity
The work of energy table loading and unloading.
4. the efficient handling equipment of a kind of electric energy meter according to claim 1, it is characterised in that: first manipulator
(1) structure is identical as the structure of the second manipulator (3).
5. the efficient handling equipment of a kind of electric energy meter according to claim 1, it is characterised in that: first manipulator
(1) and the second manipulator (3) is plug-in manipulator, i.e. two groups of right angle coordinate manipulators being installed together.
6. the efficient handling equipment of a kind of electric energy meter according to claim 1, it is characterised in that: described first laterally moves
The structure for planting mechanism (7) is identical as the structure of the second lateral transplanting mechanism (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061592.0A CN109592404A (en) | 2019-01-23 | 2019-01-23 | A kind of efficient handling equipment of electric energy meter and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061592.0A CN109592404A (en) | 2019-01-23 | 2019-01-23 | A kind of efficient handling equipment of electric energy meter and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109592404A true CN109592404A (en) | 2019-04-09 |
Family
ID=65965232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910061592.0A Pending CN109592404A (en) | 2019-01-23 | 2019-01-23 | A kind of efficient handling equipment of electric energy meter and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109592404A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19541367A1 (en) * | 1995-11-07 | 1997-05-15 | Oxytechnik Ges Systemtech | Palleting process for building components |
| US20010054535A1 (en) * | 2000-06-14 | 2001-12-27 | Faitel William M. | Gantry conveyor apparatus |
| CN102126615A (en) * | 2011-03-11 | 2011-07-20 | 浙江省电力公司 | Device for shifting electric energy meter between meter box and single-epitope tooling plate |
| CN102152304A (en) * | 2011-03-11 | 2011-08-17 | 浙江省电力公司 | Electric energy meter carrying manipulator suitable for single-meter position tooling plate |
| CN102183739A (en) * | 2011-03-11 | 2011-09-14 | 浙江省电力公司 | Device for moving electric energy meter between meter case and multi-epitope tooling board |
| CN102181894A (en) * | 2011-04-02 | 2011-09-14 | 潘俊安 | Device and method for carrying out single spraying on power battery case |
| CN102819983A (en) * | 2012-08-09 | 2012-12-12 | 国网计量中心 | Automatic sealing device for energy meter seal |
| CN204235125U (en) * | 2014-11-21 | 2015-04-01 | 李盛朝 | Tubular object extruding trimmer |
| CN208103305U (en) * | 2018-01-16 | 2018-11-16 | 新昌县铎瞿环保科技有限公司 | A kind of synchronization gripper assembly for petroleum detection device |
-
2019
- 2019-01-23 CN CN201910061592.0A patent/CN109592404A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19541367A1 (en) * | 1995-11-07 | 1997-05-15 | Oxytechnik Ges Systemtech | Palleting process for building components |
| US20010054535A1 (en) * | 2000-06-14 | 2001-12-27 | Faitel William M. | Gantry conveyor apparatus |
| CN102126615A (en) * | 2011-03-11 | 2011-07-20 | 浙江省电力公司 | Device for shifting electric energy meter between meter box and single-epitope tooling plate |
| CN102152304A (en) * | 2011-03-11 | 2011-08-17 | 浙江省电力公司 | Electric energy meter carrying manipulator suitable for single-meter position tooling plate |
| CN102183739A (en) * | 2011-03-11 | 2011-09-14 | 浙江省电力公司 | Device for moving electric energy meter between meter case and multi-epitope tooling board |
| CN102181894A (en) * | 2011-04-02 | 2011-09-14 | 潘俊安 | Device and method for carrying out single spraying on power battery case |
| CN102819983A (en) * | 2012-08-09 | 2012-12-12 | 国网计量中心 | Automatic sealing device for energy meter seal |
| CN204235125U (en) * | 2014-11-21 | 2015-04-01 | 李盛朝 | Tubular object extruding trimmer |
| CN208103305U (en) * | 2018-01-16 | 2018-11-16 | 新昌县铎瞿环保科技有限公司 | A kind of synchronization gripper assembly for petroleum detection device |
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| PB01 | Publication | ||
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Application publication date: 20190409 |