CN112014786A - Material loading robot, material loading device and electric energy meter verification and detection system - Google Patents
Material loading robot, material loading device and electric energy meter verification and detection system Download PDFInfo
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- CN112014786A CN112014786A CN202010676772.2A CN202010676772A CN112014786A CN 112014786 A CN112014786 A CN 112014786A CN 202010676772 A CN202010676772 A CN 202010676772A CN 112014786 A CN112014786 A CN 112014786A
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- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 238000012795 verification Methods 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 title description 6
- 238000003860 storage Methods 0.000 claims abstract description 13
- 230000007306 turnover Effects 0.000 claims description 9
- 210000005056 cell body Anatomy 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 7
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- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000007514 turning Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/04—Testing or calibrating of apparatus covered by the other groups of this subclass of instruments for measuring time integral of power or current
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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
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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Abstract
The invention is suitable for the technical field of metering product detection, and provides a feeding robot, a feeding device and an electric energy meter verification and detection system. The feeding device is compact in structure and firm in grabbing through the matching of the sliding fingers and the electric energy meter, so that the electric energy meter is stably grabbed and released, and the electric energy meter is prevented from being damaged due to sliding in grabbing; through setting up the storage tank body on the third arm body, make the finger that slides rotatable accomodate in accomodating the tank body, conveniently accomodate and transport.
Description
Technical Field
The invention belongs to the technical field of measurement product detection, and particularly relates to a feeding robot and a feeding device for an electric energy meter verification and detection system and the electric energy meter verification and detection system comprising the feeding device.
Background
The automatic verification and detection system for the electric energy meter mainly comprises functional units such as warehouse entry and exit cache, unstacking, stacking, information verification, loading, information binding, conveying, appearance inspection, pressure-resistant test, channel detection, accuracy verification and multifunctional test, automatic code carving, automatic labeling, sorting, blanking and the like, and realizes full automation of electric energy detection, so that the acceptance efficiency of the electric energy meter is greatly improved.
In the related technology, the feeding process of the verification detection system is that the electric energy meter is placed to a turnover box through a robot to be conveyed to a preset position, and then the electric energy meter is placed into a tray through the robot.
The inventor finds that at present, the grabbing action of the robot is realized by simulating the opening and closing of fingers of a human, but as the outer surface structure of the electric energy meter is square and the surface is smooth, the phenomenon that the electric energy meter is not firmly grabbed and easily slides off can occur in the process, so that the electric energy meter is damaged; in addition, the robot is large in size, wide in occupied range due to the fact that the arms extend outwards, and inconvenient to store and carry after operation is completed.
Disclosure of Invention
In order to solve the technical problems in the prior art, a first invention of the invention aims to provide a feeding robot which can firmly grab the appearance of an electric energy meter and prevent the electric energy meter from sliding off; the second invention aims to provide the feeding device of the electric energy meter verification and detection system, which has the advantages of compact and flexible structure, firm grabbing and convenient storage and transportation; the third invention aims to provide an electric energy meter verification and detection system comprising the feeding device.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a loading robot, which comprises a seat body, and a first rotating arm, a second rotating arm, a third rotating arm and a grabbing hand which are sequentially connected to the seat body, wherein the third rotating arm comprises a third arm body and a containing groove body arranged on one side of the third arm body, and the third rotating arm comprises a third arm body and a containing groove body arranged on one side of the third arm body; snatch the hand including upset arm, swinging boom and the finger that slides, the upset arm rotate connect in the third arm body is kept away from the one end of second swinging boom, the finger that slides passes through the swinging boom with the other end of upset arm is connected, the finger that slides draws close or keeps away from to the centre simultaneously and gets and release the electric energy meter, snatch the hand around the upset arm with the junction of the third arm body is rotatory, the finger that slides can rotate accomodate in accomodate the cell body.
As a further technical scheme, the sliding finger comprises a guide block, a first sliding block, a second sliding block, a first clamping finger, a second clamping finger and a driving cylinder, wherein the first sliding block and the second sliding block are connected to the guide block in a sliding mode, and the driving cylinder drives the first sliding block and the second sliding block to respectively drive the first clamping finger and the second clamping finger to be close to or far away from each other simultaneously.
Furthermore, the first clamping finger and the second clamping finger are identical in structure and respectively comprise a connecting block fixed on the first sliding block, a clamping block rotatably connected with the connecting block and a clamping block driving cylinder connected with the clamping block and used for driving the clamping block to move, and the clamping block can rotate inwards around the connecting point of the connecting block and the clamping block so as to be overlapped with the connecting block.
Furthermore, the inner side of the clamping block is fixed with a non-slip mat, the outer surface of the non-slip mat is provided with non-slip lines, the non-slip lines are in a curve shape, and the non-slip mat is made of rubber.
Furthermore, the guide block comprises a body part, a guide strip protruding from the side surface of the body part, and two sliding grooves arranged on the body part, wherein the two sliding grooves are respectively arranged on two sides of the guide strip along the length direction of the guide strip, and the two sliding grooves are arranged in a staggered manner.
Furthermore, the first sliding block and the second sliding block are identical in structure and respectively comprise a sliding block body, a matching groove formed in the sliding block body and a sliding hook extending from the sliding block body, the hook body of the sliding hook is matched and connected with the sliding groove, and the matching groove is matched and connected with the guide strip.
As a further technical solution, the rotating arm includes a sleeve fixedly connected to the flipping arm, a rotating shaft sleeved in the sleeve, and a connecting shaft connected to the rotating shaft, the sleeve is rotatably connected to the rotating shaft through a bearing so that the rotating shaft can rotate 360 degrees in the sleeve to drive the guide block fixed to the connecting shaft to rotate at different angles, wherein the rotating shaft is driven by a motor to move.
As a further technical scheme, one end on the third arm body is inwards sunken to form a stepped groove, the stepped groove is connected with one end of the turnover arm and is a plane, and the other end of the turnover arm is an arc surface.
As a further technical scheme, one side of the containing groove body is connected with one end, far away from the turnover arm, of the third arm body, the other side of the containing groove body is outwards expanded to form an opening, the cross section of the containing groove body is arc-shaped, and the opening is larger than or equal to the thickness of the guide block.
In a second aspect, the invention further provides a feeding device, which includes the robot and a conveying line arranged on one side of the robot and used for conveying the electric energy meter, wherein the robot moves the electric energy meter at the previous station onto the conveying line.
As a further technical scheme, the feeding device further comprises a main controller and a standby robot with the same structure as the robot, and the robot and the standby robot are in communication connection with the main controller.
As a further technical scheme, the transfer chain includes the support body and locates driving roller on the support body, set up drive chain in the support body, the roller of driving roller with drive chain meshing, the motor drives drive chain moves in order to drive the driving roller motion, and the tray that loads the electric energy meter is placed on the driving roller.
In a third aspect, the invention further provides an electric energy meter verification and detection system comprising the feeding device.
The invention has the following beneficial effects:
the feeding robot of the electric energy meter verification and detection system provided by the invention clamps and releases the electric energy meter by simultaneously approaching or departing the sliding fingers of the grabbing hand to the middle to realize the feeding of the electric energy meter, the matching structure of the sliding fingers and the electric energy meter is compact and the grabbing is firm, so that the electric energy meter with a square structure can be stably clamped and released, the electric energy meter is prevented from being damaged due to sliding in the clamping process, and the safety of the electric energy meter detection is effectively improved; and through setting up the storage groove body on the third arm body, make snatch the hand and wind the upset arm with the junction of the third arm body is rotatory, thereby makes the finger that slides is rotatable accomodate in the storage groove body, like this, has reduced the shared scope space of robot, under non-operating condition, conveniently accomodates and carries.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic structural diagram of a feeding device of an electric energy meter verification and detection system provided by the invention;
FIG. 2 is a schematic diagram of the robot shown in FIG. 1;
FIG. 3 is an assembled view of the glide finger of FIG. 2;
FIG. 4 is an exploded view of the glide finger shown in FIG. 3;
fig. 5 is a partial structural schematic view of the third rotating arm shown in fig. 2.
In the figure: 1, a robot, 2, a standby robot, 3, a conveying line and 5, pallets; 11 a base body, 13 a first rotating arm, 15 a second rotating arm, 17 a third rotating arm, 19 a grabbing hand, 131 a rotating base, 133 a first driving servo motor, 151 a second arm body, 153 a second driving servo motor, 171 a third arm body, 173 a third driving servo motor, 175 a containing groove body, 191 a turnover arm, 192 a rotating arm, 193 a sliding finger, 194 a guide block, 195 a first slide block, 196 a second slide block, 197 a first clamping finger, 198 a second clamping finger, 1941 a body part, 1943 a guide strip, 1945 a sliding groove, 1971 a connecting block, 1973 a clamping block, 1975 an anti-skid pad, 1921 a sleeve, 1923 a rotating shaft, 1925 a connecting shaft, 31 a frame body and 33 a driving roller.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background of the invention, the defects in the prior art are overcome, and in order to solve the technical problems, the invention provides a feeding robot, a feeding device and an electric energy meter verification and detection system comprising the feeding device
In a typical embodiment of the present invention, please refer to fig. 2, which is a schematic diagram of a feeding robot of an electric energy meter verification and detection system provided by the present invention; the robot 1 comprises a base body 11, and a first rotating arm 13, a second rotating arm 15, a third rotating arm 17 and a grabbing hand 19 which are sequentially connected to the base body 11. Here, in the present embodiment, X, Y, Z shown in fig. 2 represents the X axis, the Y axis, and the Z axis; wherein the first rotating arm 13 rotates 360 ° around the Z axis; the second rotating arm 15 rotates 360 degrees around the X axis; the third rotating arm 17 rotates 360 ° about the Y axis.
In this embodiment, the first rotating arm 13 includes a rotating base 131 disposed on the base body 11 and a first driving servo motor 133 driving the rotating base 131 to rotate around the Z axis by 360 degrees, the first driving servo motor 133 is connected to a main controller, the main controller controls the start and stop and the rotating direction of the first driving servo motor 133, and the first driving servo motor 133 is mounted on the mounting seat at the top of the first rotating arm 13.
In this embodiment, the second rotating arm 15 includes a second driving servo motor 153 for rotating the second arm 151 around the Y axis by 360 degrees, the second driving servo motor 153 is connected to the main controller, the main controller controls the start/stop and the rotation direction of the second driving servo motor 153, the body of the second driving servo motor 153 is fixed on the mounting seat above the first rotating arm 13, and the output end of the second driving servo motor 153 is connected to the second arm 151.
In this embodiment, the third rotating arm 17 includes a third arm 171, a third driving servo motor 173 for driving the third arm 171 to rotate 360 ° around the X axis, and a receiving slot 175 disposed on one side of the third arm 171, the third driving servo motor 173 is connected to the main controller, the main controller controls start, stop, and rotation direction of the third driving servo motor 173, the body of the third driving servo motor 173 is fixed on the mounting seat at the end of the second rotating arm 15, and the output end of the third driving servo motor 173 is connected to the third arm 171 after being turned by the steering gear.
In this embodiment, the grabbing hand 19 includes a turning arm 191, a rotating arm 192 and a sliding finger 193, the turning arm 191 is rotatably connected to one end of the third arm 171 far away from the second rotating arm 15, the sliding finger 193 is connected to the other end of the turning arm 191 through the rotating arm 192, the grabbing hand 19 rotates around the joint of the turning arm 191 and the third arm 171, and the sliding finger 193 is rotatably accommodated in the accommodating groove 175.
Please refer to fig. 3 and fig. 4 in combination, wherein fig. 3 is an assembly view of the sliding finger shown in fig. 2; fig. 4 is an exploded view of the gliding finger shown in fig. 3. The sliding finger 193 comprises a guide block 194 connected with the rotating arm 192, a first slide block 195 and a second slide block 196 which are connected with the guide block 194 in a sliding way, a first clamping finger 197 connected with the first slide block 195, a second clamping finger 198 connected with the second slide block 196 and a driving air cylinder for driving the first slide block 195 and the second slide block 196 to move;
the first sliding block 195 and the second sliding block 196 are oppositely arranged on the same surface of the guide block 194, and the first sliding block 195 and the second sliding block 196 respectively drive the first clamping finger 197 and the second clamping finger 198 to simultaneously approach to the middle position of the guide block 194 or simultaneously move away from the middle position of the guide block 194, so that the first clamping finger 197 and the second clamping finger 198 can clamp and release the electric energy meter to achieve the purpose of loading.
It should be noted that the first slide block 195 and the second slide block 196 in this embodiment may be driven by one bidirectional air cylinder, or may be driven by two air cylinders.
In this embodiment, the guide block 194 includes a body 1941, a guide bar 1943 protruding from the body 1941 in a lateral direction, and two sliding grooves 1945 opened in the body 1941, wherein the guide block 194 is rectangular, the two sliding grooves 1945 are respectively disposed on two sides of the guide bar 1943 along a length direction of the guide bar 1943, and the two sliding grooves 1945 are disposed in a staggered manner, that is, the sliding grooves 1945 are not on the same straight line in the Z-axis direction.
In this embodiment, the first slider 195 and the second slider 196 have the same structure, and the first slider 195 is taken as an example for description, wherein the first slider 195 includes a slider body 1951, a fitting groove 1953 formed in the slider body 1951, and a sliding hook 1955 extending from the slider body 1951. The first slide block 195 and the second slide block 196 have the same structure and are symmetrically arranged. The hook body of the slip hook 1955 is in fit connection with the slip groove 1945, and the fit groove 1953 is in fit connection with the guide strip 1943.
In this embodiment, the first clamping finger 197 and the second clamping finger 198 have the same structure, and the embodiment is described by taking the first clamping finger 197 as an example, where the first clamping finger 197 includes a connecting block 1971 fixed to the first sliding block 195, a clamping block 1973 rotatably connected to the connecting block 1971, and a clamping block driving cylinder connected to the clamping block 1973 for driving the clamping block 1973 to move, and the clamping block 1973 can rotate inward by 90 ° around a connection point between the connecting block 1971 and the clamping block 1973 to overlap with the connecting block 1971, so that the clamping block 1973 is folded, so as to achieve that no space is occupied in a non-use state. Specifically, the clamping block 1973 and the connecting block 1971 are connected to one body by a hinge.
Further, in this embodiment or other embodiments, the inner side of the end of the clamping block 1973 may be fixed with a non-slip pad 1975, and preferably, the non-slip pad 1975 is made of rubber or silicone rubber to increase the friction force between the clamped material and the clamping block 1973. Further, the non-slip pad 1975 is preferably made of soft rubber, so that the contact between the clamping block 1973 and the electric energy meter forms soft contact to protect the electric energy meter from being damaged during clamping. The outer surface of the anti-slip pad 1975 is provided with anti-slip lines, the anti-slip lines are in a curve shape, and the anti-slip lines can further increase the friction force between the electric energy meter and the anti-slip pad 1975, so that the grabbing force is increased more effectively.
In this embodiment, the second clamping finger 198 and the first clamping finger 197 have the same structure and are T-shaped. Therefore, the outer surface of the electric energy meter is square, a square space is formed between the first clamping finger 197 and the second clamping finger 198, and the square space can be matched with the external shape of the electric energy meter, so that the electric energy meter can be effectively clamped, the electric energy meter is prevented from being damaged due to falling in the clamping process, and the safety and the yield of electric energy meter detection are improved.
In this embodiment, the rotating arm 192 includes a sleeve 1921 fixedly connected to the flipping arm 191, a rotating shaft 1923 sleeved in the sleeve, and a connecting shaft 1925 connected to the rotating shaft, and the sleeve 1921 and the rotating shaft 1923 are rotatably connected through a bearing, so that the rotating shaft 1923 can rotate 360 ° in the sleeve 1921, so as to drive the guide block 194 fixed to the connecting shaft 1925 to rotate at different angles, wherein the rotating shaft 1925 is driven by a servo motor to move.
Please refer to fig. 2 and fig. 5 in combination, wherein fig. 5 is a schematic partial structure diagram of the third rotating arm shown in fig. 2. The third arm 171 is a cuboid, the side face of one end of the third arm 171 is recessed inwards to form a stepped groove 177, the stepped groove 177 is connected with the bottom face of one end of the turnover arm 191, and the bottom face of the other end of the turnover arm 191 is a plane and is an arc face. Wherein, the bottom surface that ladder groove 177 connects the one end of upset arm 191 is the plane in order to satisfy upset arm 191 overturns backward will slide finger 193 and accomodate to structural cooperation degree when accomodating in the cell body 175, because of upset arm 191 with the coupling part of third arm 171 is the plate-shaped, so ladder groove 177 connects the bottom surface of the one end of upset arm 191 is the plane, satisfies the cooperation degree in the upset process, makes the structure compacter.
The part of the stepped groove 177 which is an arc surface is matched with the external structure of the rotating arm 192, the overturning arm 191 drives the rotating arm 192 to overturn backwards, and the sleeve 1921 of the rotating arm 192 is a cylinder, so that the stepped groove 177 is arc-shaped. It should be noted that, in order to satisfy the purpose that the stepped groove 177 matches with the rotating arm 192, when the rotating arm 192 is in a square or other special-shaped structure, the stepped groove 177 is also in a square or other special-shaped structure, so that the structural compactness when the rotating arm 192 is engaged with the third arm 171 can be improved.
One side of the storage groove body 175 is connected the third arm body 171 is kept away from the one end of upset arm 191, and the other side outwards expands and forms opening 179, the cross section of the storage groove body 175 is the arc, opening 179 is more than or equal to the thickness of guide block 194, the storage groove body 175 is through the mode shaping of machining or integrated casting shaping, the storage groove body 175 weld in the side of the third arm body 171 is used for accomodating the finger 193 that slides. Like this, when drawing in folding, the guide block 194 is rotatory around the Z axle direction, makes the length direction of guide block 194 and Z axle syntropy, again by upset arm 191 drives the upset backward and makes slip finger 193 accomodate to accomodate in the cell body 175, thereby, swinging boom 192 with slip finger 193 can not occupation space under the non-operating condition, and the structure is nimble, accomodates and carries all very convenience.
Further, this embodiment also provides a feeding device including the robot described above, as shown in fig. 1, the feeding device includes a main controller (not shown), a robot 1, a standby robot 2, and a conveying line 3 disposed on one side of the robot 1 and the standby robot 2 for conveying electric energy meters, and the main controller is connected to the robot 1, the standby robot 2, and the conveying line 3, respectively, and is configured to control the robot 1, the standby robot 2, and the conveying line 3 to operate. The robot 1 moves the electric energy meter at the previous station to the tray 5 on the conveying line 3, namely, the bar code information on the electric energy meter is firstly identified, read and bound, then the robot 1 moves the electric energy meter to the tray 5 on the conveying line 3, and then the electric energy meter is conveyed to the appearance detection station.
As shown in fig. 1, the transfer chain 3 includes support body 31 and locates the driving roller 33 on the support body 31 in this embodiment, and driving roller 33 is provided with one row along support body 31 equidistant, sets up drive chain in the support body 31, sets up the sprocket on the roller of driving roller 33, and the sprocket meshes with drive chain, and the motor drives drive chain moves in order to drive driving roller 33 and move, and the tray 5 that loads the electric energy meter is placed on driving roller 33, driving roller 33 transports the electric energy meter to preset position under main control unit's control.
Wherein standby robot 2 with robot 1 structure is the same, and robot 1 and standby robot 2 all are connected with main control unit communication. Spare robot 2 is the unloading robot, be used for promptly with electric energy meter reprint to another station on the transfer chain 3, detect as main control unit 1 work when breaking down, main control unit control spare robot 2 has the action of material loading and unloading simultaneously concurrently, makes production can last normal work, can not lead to the production line to shut down because of a robot 1 breaks down.
It should be noted that the number of the robots 1 and the standby robots 2 may be set according to specific requirements, and is not limited to one.
The feeding device of the electric energy meter verification and detection system provided by the invention has the advantages that the sliding fingers of the grabbing hand are simultaneously closed to the middle or far away to clamp and release so as to realize the feeding of the electric energy meter, the matching structure of the sliding fingers and the electric energy meter is compact and the grabbing is firm, so that the electric energy meter with a square structure can be stably clamped and released, the electric energy meter is prevented from being damaged due to sliding in the clamping process, and the detection safety of the electric energy meter is effectively improved; through setting up the storage tank body on the third arm body, make snatch the hand and wind upset arm with the junction of the third arm body is rotatory, thereby makes it can rotate to accomodate in to slide the finger accomodate in the storage tank body, like this, reduced the shared scope space of robot, under non-operating condition, conveniently accomodate and transport.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (13)
1. A feeding robot is characterized by comprising a base body, a first rotating arm, a second rotating arm, a third rotating arm and a grabbing hand, wherein the first rotating arm, the second rotating arm, the third rotating arm and the grabbing hand are sequentially connected to the base body; the third rotating arm comprises a third arm body and a containing groove body arranged on one side of the third arm body; snatch the hand including upset arm, swinging boom and the finger that slides, the upset arm rotate connect in the third arm body is kept away from the one end of second swinging boom, the finger that slides passes through the swinging boom with the other end of upset arm is connected, the finger that slides draws close or keeps away from to the centre simultaneously and gets and release the electric energy meter, snatch the hand around the upset arm with the junction of the third arm body is rotatory, the finger that slides can rotate accomodate in accomodate the cell body.
2. The loading robot as claimed in claim 1, wherein the sliding finger includes a guide block, a first slider, a second slider, a first clamping finger, a second clamping finger, and a driving cylinder, the first slider and the second slider are slidably connected to the guide block, and the driving cylinder drives the first slider and the second slider to respectively drive the first clamping finger and the second clamping finger to move closer to or away from each other.
3. The loading robot as claimed in claim 2, wherein the first and second clamping fingers are identical in structure and each comprise a connecting block fixed to the first slide block, a clamping block rotatably connected to the connecting block, and a clamping block driving cylinder for driving the clamping block to move, and the clamping block is rotatable inwardly around the connecting point of the connecting block and the clamping block to be stacked with the connecting block.
4. The loading robot as claimed in claim 3, wherein a non-slip pad is fixed on the inner side of the clamping block, the outer surface of the non-slip pad is provided with non-slip lines, the non-slip lines are curved, and the non-slip pad is made of rubber.
5. The loading robot as claimed in claim 2, wherein the guide block includes a main body, a guide bar protruding from a side surface of the main body, and two sliding grooves formed in the main body, the two sliding grooves are respectively formed in two sides of the guide bar along a length direction of the guide bar, and the two sliding grooves are disposed in a staggered manner.
6. The loading robot as claimed in claim 2, wherein the first and second sliders have the same structure and each include a slider body, a mating groove formed in the slider body, and a sliding hook extending from the slider body, the hook body of the sliding hook is connected to the sliding groove, and the mating groove is connected to the guide strip.
7. The loading robot as claimed in claim 1, wherein the rotating arm includes a sleeve fixedly connected to the flipping arm, a rotating shaft sleeved in the sleeve, and a connecting shaft connected to the rotating shaft, the sleeve and the rotating shaft are rotatably connected through a bearing so that the rotating shaft can rotate 360 ° in the sleeve to drive the guide block fixed to the connecting shaft to rotate at different angles, and the rotating shaft is driven by a motor to move.
8. The loading robot as claimed in claim 1, wherein one end of the third arm is recessed inward to form a stepped groove, and one end of the stepped groove connected to the turnover arm is a plane and the other end is an arc.
9. The loading robot as claimed in claim 1, wherein one side of the storage slot body is connected to one end of the third arm body, which is far away from the turnover arm, and the other side of the storage slot body is expanded outwards to form an opening, the cross section of the storage slot body is arc-shaped, and the opening is larger than or equal to the thickness of the guide block.
10. A feeding device, characterized in that it comprises the robot of any one of claims 1-9 and a conveying line arranged on one side of the robot for conveying electric energy meters, and the robot moves the electric energy meter at the previous station onto the conveying line.
11. The loading device according to claim 10, further comprising a main controller and a standby robot having the same structure as the robot, wherein the robot and the standby robot are both in communication connection with the main controller.
12. The feeding device according to claim 10, wherein the conveying line comprises a frame body and a transmission roller arranged on the frame body, a transmission chain is arranged in the frame body, a roller shaft of the transmission roller is meshed with the transmission chain, a motor drives the transmission chain to move so as to drive the transmission roller to move, and a tray loaded with the electric energy meter is placed on the transmission roller.
13. An electric energy meter verification and detection system, characterized by comprising a loading device according to any one of the preceding claims 11-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676772.2A CN112014786A (en) | 2020-07-14 | 2020-07-14 | Material loading robot, material loading device and electric energy meter verification and detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676772.2A CN112014786A (en) | 2020-07-14 | 2020-07-14 | Material loading robot, material loading device and electric energy meter verification and detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112014786A true CN112014786A (en) | 2020-12-01 |
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| CN202010676772.2A Pending CN112014786A (en) | 2020-07-14 | 2020-07-14 | Material loading robot, material loading device and electric energy meter verification and detection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117657766A (en) * | 2024-02-01 | 2024-03-08 | 哈尔滨学院 | Electric control robot paw |
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| JP2006332695A (en) * | 1997-08-25 | 2006-12-07 | Shibaura Mechatronics Corp | Robot device and processing device |
| CN102749609A (en) * | 2012-07-20 | 2012-10-24 | 重庆市电力公司电力科学研究院 | Electric energy meter verification system and electric energy meter verification robot thereof |
| CN202794501U (en) * | 2012-07-20 | 2013-03-13 | 重庆市电力公司电力科学研究院 | Electric energy meter verification system and electric energy meter verification robot thereof |
| CN108436894A (en) * | 2018-06-11 | 2018-08-24 | 暨南大学 | A kind of Kun Zhuan article carryings robot |
| CN110749854A (en) * | 2019-12-03 | 2020-02-04 | 国网山东省电力公司电力科学研究院 | Electric energy meter verification and detection system feeding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006332695A (en) * | 1997-08-25 | 2006-12-07 | Shibaura Mechatronics Corp | Robot device and processing device |
| CN102749609A (en) * | 2012-07-20 | 2012-10-24 | 重庆市电力公司电力科学研究院 | Electric energy meter verification system and electric energy meter verification robot thereof |
| CN202794501U (en) * | 2012-07-20 | 2013-03-13 | 重庆市电力公司电力科学研究院 | Electric energy meter verification system and electric energy meter verification robot thereof |
| CN108436894A (en) * | 2018-06-11 | 2018-08-24 | 暨南大学 | A kind of Kun Zhuan article carryings robot |
| CN110749854A (en) * | 2019-12-03 | 2020-02-04 | 国网山东省电力公司电力科学研究院 | Electric energy meter verification and detection system feeding device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117657766A (en) * | 2024-02-01 | 2024-03-08 | 哈尔滨学院 | Electric control robot paw |
| CN117657766B (en) * | 2024-02-01 | 2024-04-05 | 哈尔滨学院 | Electric control robot paw |
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