CN110422620A - A device and method for automatically transporting electric energy meters for loading and unloading based on RGV - Google Patents

Abstract

The invention discloses a device and method for automatically transporting electric energy meters based on RGV, which includes a transfer box in which N electric energy meters are placed; a traveling device arranged horizontally, the traveling device includes a ground rail above the ground rail Slidingly connected with a sliding seat, the sliding seat is connected to the driving device; the robot used to grab the electric energy meter is arranged above the sliding seat; the carrier for supporting the transfer box, the bottom of the carrier is provided for driving the The loading frame moves up and down the linear module, and the linear module is vertically arranged on the sliding seat and located on one side of the robot. The invention realizes the loading and unloading of the robot at different positions, and solves the disadvantage of a single loading and unloading position of the original robot; by using the carrier, the synchronous movement of the transfer box and the robot is realized, and the palletizing of the transfer box is realized at the same time; The frame is set in a two-stage retractable mode, which does not take up space, is fast, and has high work efficiency.

Description

A device and method for automatically transporting electric energy meters for loading and unloading based on RGV

technical field

The invention relates to the technical field of electric energy meter handling, in particular to a device and method for automatically transporting electric energy meters for loading and unloading based on RGV.

Background technique

RGV is the English abbreviation of Rail Guided Vehicle, also known as rail shuttle trolley. RGV trolley can be used in various high-density storage warehouses. The trolley channel can be designed to be arbitrarily long, which can increase the storage capacity of the entire warehouse. And there is no need for a forklift to drive into the roadway during operation, making it safer.

At the loading and unloading position of the detection line of the electric energy meter (single-phase electric energy meter or three-phase electric energy meter), it is necessary to carry out automatic handling of the electric energy meter. At present, the robot is mainly used to grab the electric energy meter, but the station of the existing robot is fixed and cannot be moved. The position is relatively fixed, and the utilization rate of the robot is low, which has great disadvantages. Although the existing technology generally adopts the mode of double robots to solve this problem, it greatly increases the cost; Coordinated movement leads to low work efficiency. Even if the transfer box of a few devices can move synchronously with the robot, the structure used to support the transfer box cannot be stretched, takes up a lot of space, and is not convenient and flexible to use. After the electric energy meter is transported, the transfer box cannot be automatically palletized, and there are many inconveniences in the use process.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, a device and method for automatically transporting electric energy meters for loading and unloading based on RGV are provided.

The technical solution adopted by the present invention to solve its technical problems is:

A device for automatically transporting electric energy meters for loading and unloading based on RGV, including a transfer box in which N electric energy meters are placed, and also includes:

A traveling device arranged laterally, the traveling device includes a ground rail, a sliding seat is slidably connected above the ground rail, and the sliding seat is connected to a driving device;

A robot used to grab the electric energy meter, the robot is arranged above the sliding seat;

The carrier for supporting the transfer box, the bottom of the carrier is provided with a linear module for driving the carrier to move up and down, the linear module is vertically arranged on the sliding seat and located side of the robot.

Preferably, the carrier includes a pair of sliding tables vertically arranged in parallel, the sliding tables are fixedly connected to the linear module, a first sliding arm is slid above the sliding table, and the first A second sliding arm is slidably connected to the top of the sliding arm, and the second sliding arm is clamped under the box edge of the transfer box.

Preferably, the sliding platform is a first rodless cylinder, the first sliding arm is a second rodless cylinder, the piston of the first rodless cylinder is connected with the cylinder body of the second rodless cylinder, so The second sliding arm is a clamping plate, and the clamping plate is connected with the piston of the second rodless cylinder.

Preferably, the driving device includes a rack, the rack is arranged on the ground rail, the rack is meshed with a gear, the gear is connected to a motor, and the motor is fixedly connected to the sliding seat.

Preferably, a carrying platform is provided above the sliding seat, and the carrying platform located between the linear modules is used for placing empty transfer boxes.

The present invention also provides a kind of method based on RGV automatic transport electric energy meter loading and unloading, comprises the following steps:

Step 1: Palletize M transfer boxes containing N electric energy meters on the transfer box buffer rack;

Step 2: The motor drives the sliding seat to slide towards the position where the transfer box is located along the ground rail;

Step 3: After arriving at the position of the transfer box, the linear module drives the carrier to lift, so that the carrier is at the position below the box edge of the uppermost transfer box, and then starts the first rodless cylinder, the piston of the first rodless cylinder Move towards the direction close to the transfer box, and then drive the second rodless cylinder to stretch out, start the second rodless cylinder, the piston of the second rodless cylinder drives the clamping plate to stretch out until it reaches the bottom of the transfer box;

Step 4: The linear module drives the carrier to move up, and then the pallet moves up and is clamped on the box edge of the transfer box, and continues to move up, so that the transfer box is separated from the transfer box located on the lower layer;

Step 5: The motor drives the sliding seat to move, so that the carrier supporting the transfer box moves to the table support position;

Step 6: After reaching the position of the meter holder, the robot grabs one or more electric energy meters in the transfer box and puts them into the corresponding meter holder;

Step 7: Repeat step 5 and step 6, so that all N electric energy meters in the transfer box are grabbed and carried into meter holders at different positions;

Step 8: The linear module drives the carrier down, shrinks the first rodless cylinder and the second rodless cylinder in the direction away from the transfer box, so that the empty transfer box is placed on the carrying platform, and then the linear module drives the load Move up the shelf;

Step 9: Repeat steps 2-8 until all the electric energy meters in the M transfer boxes are captured and transported. During this process, the M transfer boxes are stacked upwards and stacked together.

Compared with prior art, the beneficial effect of the present invention is:

1. By setting the walking device in the present invention, the robot can move in the designated area along the ground rail, realizing the loading and unloading of the robot at different positions, and solving the disadvantage of the single loading and unloading position of the original robot;

2. The present invention can conveniently support the transfer box by setting the carrier, realize the synchronous movement of the transfer box and the robot along the ground rail, and improve the grabbing efficiency; in addition, the carrier can be equipped with the first rodless cylinder and the second rodless cylinder , and pallets, first use the contraction function to facilitate the clamping and separation of the pallets and the transfer box, and then quickly lift or stack the transfer boxes on the carrying platform. It takes up space, is convenient and flexible, and the expansion speed is faster than that of the first-level expansion, thereby improving work efficiency;

3. The present invention realizes the lifting of the carrier by setting a linear module, which can conveniently adjust the height of the carrier and facilitate the transfer box to be inserted into the carrier.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a schematic diagram of the structure of the present invention in the direction of the front view.

Fig. 3 is a schematic diagram showing the enlarged structure of the carrier in Fig. 1 .

FIG. 4 is a schematic side view of the structure of the carrier in FIG. 3 .

Fig. 5 is a schematic diagram of the connection structure of the rack and pinion in Fig. 1 .

Explanation of reference signs:

1 ground rail; 101 support seat; 2 sliding seat; 3 bearing platform; 31 motor seat; 32 gear; 33 rack; 4 base; 5 robot; 6 transfer box; 7 baffle; 8 first rodless cylinder; Two rodless cylinders; 10 pallets; 11 linear modules; 12 load racks.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

As shown in Figures 1-5, the embodiment of the present invention proposes a device for automatically transporting electric energy meters based on RGV, which includes a transfer box 6 in which several electric energy meters are placed, and it also includes :

The walking device arranged horizontally, the walking device includes a ground rail 1, a plurality of support seats 101 are arranged on the ground rail 1, and a through hole is opened on the support seat 101, and expansion bolts are used to penetrate in the through hole, and the support seat 101 It is firmly fixed on the ground to improve the stability of the ground rail 1 during operation. There are sliding seats 2 slidingly connected above the ground rail 1. The number of sliding seats 2 can be 6 and are evenly distributed along the axis of the ground rail 1. On both sides, the sliding seat 2 is connected with a driving device for driving the sliding seat 2 to slide along the ground rail 1, the driving device includes a rack 33, the rack 33 is fixedly welded on the ground rail 1, and the rack 33 is meshed with a gear 32 , the gear 32 is connected with a motor, the motor has forward and reverse functions, the motor is fixedly arranged on the motor base 31, the motor base 31 is fixedly welded on the bottom of the bearing platform 3, and the bearing platform 3 is fixedly welded on the top of the sliding seat 2.

A side above the carrying platform 3 is also welded with a base 4, and a robot 5 is fixedly connected above the base 4, and the robot 5 can grab one or more electric energy meters (single-phase electric energy meters and three-phase electric energy meters) simultaneously.

It also includes a carrier 12 for supporting the transfer box 6. The bottom of the carrier 12 is provided with a linear module 11 for driving the carrier to move up and down. The linear module 11 is vertically arranged on the carrying platform 3 and located on the side of the robot. What needs to be explained here is that the linear module 11, also known as linear slide table and single-axis robot, is a linear transmission device. There are two main methods, one is composed of ball screw and linear Belt and synchronous pulley, both of which are guided by linear guide rails, with servo motors or stepping motors, can realize positioning, shifting, handling, etc. in different application fields. By setting the linear module 11, the loading The lifting of the object rack 12 can facilitate the adjustment of the height of the object rack 12, and facilitates the transfer box 6 to be inserted into the object rack 12; Fixedly connected to the linear module 11, a first sliding arm is slid above the sliding table, and a second sliding arm is slidably connected above the first sliding arm, and the second sliding arm is clamped under the box edge of the transfer box 6, specifically Yes, the slide table is the first rodless cylinder 8, the first slide arm is the second rodless cylinder 9, and the piston of the first rodless cylinder 8 is connected to the cylinder body of the second rodless cylinder 9; the second slide arm is the card plate 10, the clamping plate 10 is connected with the piston of the second rodless cylinder 9, through this setting method, the expansion and contraction function is used to facilitate the clamping and separation of the clamping plate 10 and the transfer box 6, and the support and separation of the transfer box 6 is realized. Palletizing, in addition, the use of two-stage telescopic, does not take up space, convenient and flexible operation, and the telescopic speed is faster than that of the first-stage telescopic, thereby improving work efficiency;

It should be noted that a rodless cylinder refers to a cylinder that uses a piston to directly or indirectly connect to an external actuator, and makes it follow the piston to achieve reciprocating motion. The biggest advantage of this type of cylinder is that the overall installation size is small and the axial space is small, which saves about 44% of the axial space compared with the standard cylinder. Using this advantage, the installation space can be saved.

In addition, the carrying platform 3 also has the function of placing the transfer box 6. Specifically, the carrying platform 3 between the linear modules is used to place the empty transfer box 6. After the electric energy meters in the same transfer box 6 are transported, The transfer box 6 is placed on the carrying platform 3 by the carrier 12 and automatically stacked, so that the space can be fully utilized and the whole device looks compact.

The present invention also provides a kind of method based on RGV automatic transport electric energy meter loading and unloading, comprises the following steps:

Step 1: Stack M transfer boxes 6 on the transfer box buffer rack, and each transfer box 6 is filled with N electric energy meters;

Step 2: The motor drives the sliding seat 2 to slide along the ground rail 1 toward the position where the transfer box 6 is located;

Step 3: After arriving at the corresponding position of the transfer box 6, the linear module 11 drives the carrier 12 to lift, so that the carrier 12 is at the position below the box edge of the uppermost transfer box 6, and then starts the first rodless cylinder 8, the The piston of the first rodless cylinder 8 moves toward the direction close to the transfer box 6, and then drives the second rodless cylinder 9 to stretch out, and then starts the second rodless cylinder 9, and the piston of the second rodless cylinder 9 drives the clamping plate 10 to extend out until reaching the bottom of the box edge of the transfer box 6;

Step 4: The linear module 11 drives the carrier 12 to move up, and then the clamping plate 10 moves up and is clamped on the box edge of the transfer box 6, and continues to move up, so that the transfer box 6 and the transfer box located on the lower floor Box 6 is separated;

Step 5: The motor drives the sliding seat 2 to move, so that the carrier 12 supporting the transfer box 6 moves to the position of the table holder;

Step 6: After reaching the position of the meter holder, the robot 5 grabs one or more electric energy meters in the transfer box 6 and puts them into the corresponding meter holder;

Step 7: Repeat steps 5 and 6 until all the N electric energy meters in the transfer box 6 are picked up and transported into meter holders at different positions;

Step 8: The linear module 11 drives the carrier 12 to move down, the first rodless cylinder 8 and the second rodless cylinder 9 are shrunk away from the transfer box 6, so that the empty transfer box 6 is placed on the carrying platform 3 Then, the linear module 11 drives the carrier 12 to move up, so that the carrier 12 is separated from the empty transfer box 6;

Step 9: Repeat steps 2-8 until all the electric energy meters in the M transfer boxes 6 are grabbed and transported. During this process, the M transfer boxes are stacked on the carrying platform in an upwardly stacked manner.

It can be seen from the above embodiments that by setting the walking device in the present invention, the robot 5 can move in the designated area along the ground rail 1, realizing the loading and unloading of the robot 5 at different positions, and solving the disadvantage of the single loading and unloading position of the original robot; By setting the carrier 12, the transfer box 6 can be conveniently supported, and the transfer box 6 and the robot 5 can move synchronously along the ground rail, thereby improving the grabbing efficiency; in addition, by setting the linear module 11 and the carrier 12 to cooperate, the It is convenient to adjust the height of the carrier 12, and it is convenient to make the transfer box 6 snap into the carrier 12. At the same time, when the transfer box 6 is stacked, it is also convenient for the carrier 12 to be separated from the transfer box 6; 12 is set as a two-level stretching method, which does not take up space, and has fast scaling speed and high efficiency.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (6)

1. A device for automatically transporting electric energy meters based on RGV for loading and unloading, comprising a transfer box, N described electric energy meters are placed in the transfer box, it is characterized in that, also includes: A traveling device arranged laterally, the traveling device includes a ground rail, a sliding seat is slidably connected above the ground rail, and the sliding seat is connected to a driving device; A robot used to grab the electric energy meter, the robot is arranged above the sliding seat; The carrier for supporting the transfer box, the bottom of the carrier is provided with a linear module for driving the carrier to move up and down, the linear module is vertically arranged on the sliding seat and located side of the robot. 2. A device for loading and unloading an electric energy meter based on RGV automatic transportation according to claim 1, wherein the carrier includes a pair of vertically parallel sliding tables, and the sliding tables are fixedly connected to the On the above-mentioned linear module, a first sliding arm is slid above the sliding table, and a second sliding arm is slidably connected above the first sliding arm, and the second sliding arm is clamped on the box of the transfer box. along the bottom. 3. A device for loading and unloading electric energy meters based on RGV automatic transportation according to claim 2, wherein the slide table is a first rodless cylinder, and the first sliding arm is a second rodless cylinder, The piston of the first rodless cylinder is connected with the cylinder body of the second rodless cylinder, the second sliding arm is a clamp, and the clamp is connected with the piston of the second rodless cylinder. 4. A device for loading and unloading electric energy meters based on RGV automatic transportation according to claim 1, wherein the driving device comprises a rack, the rack is arranged on the ground rail, and the rack A gear is meshed, and the gear is connected with a motor, and the motor is fixedly connected with the sliding seat. 5. A device for loading and unloading electric energy meters based on RGV automatic transportation according to claim 1, characterized in that a bearing platform is arranged above the sliding seat, and the bearing platform between the linear modules is used for For placing empty said transfer boxes. 6. A method for automatically transporting electric energy meters based on RGV for loading and unloading, characterized in that, adopting a device for automatically transporting electric energy meters for loading and unloading based on RGV according to any one of claims 1-5, characterized in that, comprising The following steps: Step 1: Palletize M transfer boxes containing N electric energy meters on the transfer box buffer rack; Step 2: The motor drives the sliding seat to slide towards the position where the transfer box is located along the ground rail; Step 3: After arriving at the position of the transfer box, the linear module drives the carrier to lift, so that the carrier is at the position below the box edge of the uppermost transfer box, and then starts the first rodless cylinder, the piston of the first rodless cylinder Move towards the direction close to the transfer box, and then drive the second rodless cylinder to stretch out, start the second rodless cylinder, the piston of the second rodless cylinder drives the clamping plate to stretch out until it reaches the bottom of the transfer box; Step 4: The linear module drives the carrier to move up, and then the pallet moves up and is clamped on the box edge of the transfer box, and continues to move up, so that the transfer box is separated from the transfer box located on the lower layer; Step 5: The motor drives the sliding seat to move, so that the carrier supporting the transfer box moves to the table support position; Step 6: After reaching the position of the meter holder, the robot grabs one or more electric energy meters in the transfer box and puts them into the corresponding meter holder; Step 7: Repeat step 5 and step 6, so that all N electric energy meters in the transfer box are grabbed and carried into meter holders at different positions; Step 8: The linear module drives the carrier down, shrinks the first rodless cylinder and the second rodless cylinder in the direction away from the transfer box, so that the empty transfer box is placed on the carrying platform, and then the linear module drives the load Move up the shelf; Step 9: Repeat steps 2-8 until all the electric energy meters in the M transfer boxes are captured and transported. During this process, the M transfer boxes are stacked upwards and stacked together.