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 PDF

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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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CN
China
Prior art keywords
manipulator
electric energy
energy meter
transplanting mechanism
longitudinal direction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910061592.0A
Other languages
Chinese (zh)
Inventor
金丽
马春艳
郑文博
张淼
张玮琦
潘亮
王巳腾
陆文娇
曲翀
罗义钊
陈亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FUJIAN WANGNENG TECHNOLOGY DEVELOPMENT Co Ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Eastern Inner Mongolia Power Co Ltd
Original Assignee
FUJIAN WANGNENG TECHNOLOGY DEVELOPMENT Co Ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Eastern Inner Mongolia Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FUJIAN WANGNENG TECHNOLOGY DEVELOPMENT Co Ltd, State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Eastern Inner Mongolia Power Co Ltd filed Critical FUJIAN WANGNENG TECHNOLOGY DEVELOPMENT Co Ltd
Priority to CN201910061592.0A priority Critical patent/CN109592404A/en
Publication of CN109592404A publication Critical patent/CN109592404A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices 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

A kind of efficient handling equipment of electric energy meter and method
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).
CN201910061592.0A 2019-01-23 2019-01-23 A kind of efficient handling equipment of electric energy meter and method Pending CN109592404A (en)

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

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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)

* Cited by examiner, † Cited by third party
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

Patent Citations (9)

* Cited by examiner, † Cited by third party
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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Application publication date: 20190409