CN115592644B - Automatic meter hanging device and method for electric energy meter calibration - Google Patents
Automatic meter hanging device and method for electric energy meter calibration Download PDFInfo
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- CN115592644B CN115592644B CN202211612248.4A CN202211612248A CN115592644B CN 115592644 B CN115592644 B CN 115592644B CN 202211612248 A CN202211612248 A CN 202211612248A CN 115592644 B CN115592644 B CN 115592644B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
Abstract
The invention relates to the technical field of electric energy meter calibration, and discloses an automatic meter hanging device and a method for electric energy meter calibration, wherein the technical scheme is characterized in that the automatic meter hanging device is arranged on a guide positioning track arranged on a calibration table and a meter hanging robot; the guide positioning track comprises a longitudinal communication guide rail and a transverse transportation guide rail; the transverse transportation guide rail corresponds to the row of the checking module, a marking mechanism is arranged at the position of the transverse transportation guide rail corresponding to the checking module, and a rail changing steering seat is arranged at the position where the transverse transportation guide rail and the longitudinal communication guide rail are crossed and a branch is arranged; the meter hanging robot comprises a supporting frame, a driving base, a meter hanging mechanical arm and an identification mechanism which are correspondingly connected, the driving base is connected with a guide positioning track in a sliding mode and used for driving the supporting frame to move on the guide positioning track, the identification mechanism is matched with a marking mechanism, the meter hanging mechanical arm is used for clamping an electric energy meter to be tested and hanging the electric energy meter to be tested on a calibration module, and the effect of improving the accuracy and the efficiency of actually hanging the meter is achieved.
Description
Technical Field
The invention relates to the technical field of electric energy meter calibration, in particular to an automatic meter hanging device and method for electric energy meter calibration.
Background
At the in-process of electric energy meter check-up, need be hung the electric energy meter to the check-up bench, current electric energy meter check-up in-process adopts the manual work to hang the table operation usually, and the limitation that adopts the mode of manual work to hang the table lies in: manual work is required to be specially arranged for hanging the watch, when the manual work temporarily leaves the post, the check is in a stagnation state, so that the overall efficiency is not high, and the manual work is specially arranged, so that the cost is high; due to the limitation of the height of workers, the area which can be operated manually is limited, so that the effective detection area set by the calibration console is limited, and the calibration efficiency is further limited;
in order to avoid the defects caused by manual meter hanging, the common trend of the market is to design automatic meter hanging equipment to realize efficient electric energy meter checking work; generally, the existing automatic operation method of hanging a table is as follows: loading and transporting the electric energy meter to be checked by adopting an AGV trolley, configuring a meter hanging manipulator for the AGV trolley, and directly finishing the operations of unloading the meter, transporting and hanging the meter at one time; or one side of the checking platform is provided with a meter hanging manipulator, and the electric energy meter is directly grabbed from a shelf of the electric energy meter to be checked to hang the meter.
Although the actual electric energy meter hanging calibration efficiency is improved by the methods, a problem occurs in the use process of the methods, namely when the meter hanging manipulator carries out meter hanging operation, the problem that the precision is difficult to control when the meter hanging manipulator hangs the meter is caused by overlarge calibration table area which is taken into consideration by the support unit and the identification unit of the manipulator, when the meter hanging precision is not high, the meter hanging precision can be caused to align with the calibration wiring terminal, the electric energy meter is not accurately clamped on the calibration module, the subsequent wiring can not be automatically completed, manual intervention and adjustment are also needed, and therefore optimization needs to be carried out aiming at the existing automatic meter hanging device, and the precision of the meter hanging position can be ensured.
Disclosure of Invention
The invention aims to provide an automatic meter hanging device and method for electric energy meter calibration, which can carry out the upward feeding of an electric energy meter of an upper meter manipulator at a single position, a plurality of meter hanging robots can work simultaneously, the actual meter hanging efficiency is improved, and the accuracy of the actual meter hanging operation position is improved through an identification mechanism and a marking mechanism.
The technical purpose of the invention is realized by the following technical scheme: an automatic meter hanging device for electric energy meter calibration is configured on a calibration table provided with M rows of calibration modules and comprises a guide positioning track and X meter hanging robots, wherein X is less than or equal to M;
the guide positioning track comprises a group of longitudinal communication guide rails and M groups of transverse transportation guide rails;
the transverse transportation guide rail corresponds to the row where the checking module is located, a marking mechanism is arranged at the position, corresponding to the checking module, of the transverse transportation guide rail, the longitudinal communication guide rail is vertically and crossly connected with all the transverse transportation guide rails, and a rail changing steering seat is arranged at the position, where the transverse transportation guide rail is crossed with the longitudinal communication guide rail and a branch exists, of the transverse transportation guide rail;
the meter hanging robot comprises a supporting frame, a driving base, a meter hanging mechanical arm and an identification mechanism, wherein the supporting frame, the driving base, the meter hanging mechanical arm and the identification mechanism are correspondingly connected, the driving base is in sliding connection with a guide positioning track and is used for driving the supporting frame to move on the guide positioning track, the identification mechanism is matched with a marking mechanism and is used for identifying the position of a checking module, and the meter hanging mechanical arm is used for clamping an electric energy meter to be detected and hanging the electric energy meter to be detected on the checking module.
As a preferred technical scheme of the device in the invention, the supporting frame comprises two parallel opposite supporting plates, and connecting pieces are respectively and fixedly connected between the tops and the bottoms of the two supporting plates; the driving base is arranged at the end part of one side of the supporting plate, which faces the calibration table;
a meter hanging moving guide rail is arranged on the inner side of the supporting plate and comprises a rear conveying transverse rail and a lower hanging longitudinal rail, and the top end of the lower hanging longitudinal rail is in butt joint with one end, facing the calibration console, of the rear conveying transverse rail;
the meter hanging mechanical hand is arranged in the meter hanging moving guide rail and comprises a moving base, a backward feeding telescopic rod, a meter clamping telescopic rod and a meter clamping abutting plate; one side of the movable base is connected with the hanging meter movable guide rail in a sliding mode, one end, back to the calibration table, of the back feeding telescopic rod is fixedly connected with the other side of the movable base, one end, facing towards the calibration table, of the back feeding telescopic rod is fixedly connected with one end, facing towards the supporting plate, of the clamp meter telescopic rod, and the other end, facing away from the electric energy meter to be measured, of the clamp meter supporting plate is fixedly connected with one side, facing away from the electric energy meter to be measured, of the clamp meter telescopic rod.
As a preferred technical solution of the apparatus in the invention, the transverse transportation guide rail comprises a top transverse rail and a bottom transverse rail, and the top transverse rail and the bottom transverse rail are respectively disposed in parallel at the top and the bottom of the row where the checking module is located; the longitudinal communication guide rail comprises two longitudinal rails, the transverse transportation guide rail and the longitudinal communication guide rail are provided with notches at the intersection, if branches exist at the notches, the rail changing steering seat is configured, if branches do not exist at the notches, the arc-shaped bent rails are configured, and the transverse transportation guide rail and the longitudinal communication guide rail are in butt joint through the arc-shaped bent rails.
As a preferable technical solution of the device in the invention, the rail-changing turning base includes an electric rotating base and a linear guide rail, a fixing portion of the electric rotating base is fixedly connected with respect to the calibration stand, and an outer side of a rotating portion of the electric rotating base is connected with the linear guide rail.
As a preferred technical scheme of the device in the invention, the supporting frame is further provided with an auxiliary positioning table, the bottom surface of the auxiliary positioning table is connected with a connecting piece at the bottom in a flush manner, one side of the auxiliary positioning table, facing the verification table, is flush with the edge of one side of the supporting plate, facing the verification table, and is provided with an oblique guide table top, one side of the auxiliary positioning table, facing away from the verification table, is provided with an oblique guide table top, the top surface of the auxiliary positioning table is perpendicular to the surface of the clamping surface abutting plate, and the top surface of the auxiliary positioning table and the oblique guide table top are provided with guide edges in smooth transition.
As a preferred technical solution of the device in the present invention, the marking mechanism is a position signal emitter, the marking mechanism is disposed above the top cross rail at a position corresponding to a middle of the calibration module, the identification mechanism is a position receiver matched with the position signal emitter, and the identification mechanism is disposed at a middle of the connecting member located at the top.
As a preferable technical scheme of the device, one side of the meter clamping supporting plate, which faces the electric energy meter to be measured, is provided with an elastic soft cushion.
As a preferred technical solution of the device in the invention, the longitudinal communication rail is connected to the most edge of the transverse transportation rail.
An automatic meter hanging method for electric energy meter calibration comprises the following steps:
a guide positioning track corresponding to the position of the checking module is additionally arranged on the checking platform, and a meter hanging robot is configured on the guide positioning track;
according to the positions of all the check modules on the check table and the set position of the initial upper epitope, sequentially numbering the check modules in a form hanging manner;
acquiring a meter-mounting signal, and controlling a meter-mounting robot corresponding to the current meter-mounting sequence number to reach an initial meter-mounting position;
after the meter hanging robot reaches the initial upper meter position, the electric energy meter to be tested is received;
after the electric energy meter to be tested is received, the meter hanging robot is controlled to transport the electric energy meter to be tested to the verification module corresponding to the current meter hanging sequence number;
controlling the meter hanging robot to act, and hanging the electric energy meter to be tested on the checking module;
and after the meter hanging operation is finished, controlling the meter hanging robot to return to wait for the meter position or initially get the meter position.
As a preferred technical scheme of the method, in the moving process of the meter hanging robot, the guide positioning track is controlled to adjust and match according to the moving path of the meter hanging robot.
In conclusion, the invention has the following beneficial effects: the meter hanging manipulator of the meter hanging robot can control the distance between the two meter clamping resisting plates by controlling the expansion and contraction of the meter clamping telescopic rod, so that the electric energy meter can be controlled to be clamped or released; controlling the distance between the electric energy meter and the calibration module by controlling the expansion and contraction of the rear feeding telescopic rod; the movable base is controlled to move in the meter hanging movable guide rail, and the distance and the height between the electric energy meter and the checking module are controlled, so that operations of clamping, releasing, meter hanging and the like of the electric energy meter can be realized; the guide positioning track can be matched with a driving base of the meter hanging robot to provide a transportation track, and meanwhile, a track changing steering seat is arranged, so that the steering operation of the label hanging robot can be realized, and the flexible moving transportation of the meter hanging robot in the range of a calibration table can be realized; the whole meter hanging robot can receive and convey the electric energy meter of the upper meter manipulator at a single position, and a plurality of meter hanging robots can work simultaneously, so that the actual meter hanging efficiency can be greatly improved; the meter hanging robot and the guide positioning track are respectively provided with the identification mechanism and the marking mechanism corresponding to the positions of the check modules, so that the meter hanging robot can accurately identify the positions of the check modules, the meter hanging operation can be accurately carried out in the transportation and meter hanging processes, and the accuracy of actual meter hanging operation positions is greatly improved.
Drawings
FIG. 1 is a schematic view of a guide positioning track and verification station of the present invention;
FIG. 2 is a schematic view of a wall watch robot of the present invention;
FIG. 3 is a schematic view of a pocket watch movement guide of the present invention;
FIG. 4 is a schematic view of the position of the electric energy meter of the present invention within a support frame;
FIG. 5 is a diagram illustrating a state of a watch hanging robot hanging a watch to a verification module according to the present invention;
FIG. 6 is a schematic view of the state of the watch clamping and the back feeding of the watch hanging manipulator of the present invention;
fig. 7 is a schematic view of the rail-changing turning seat of the present invention.
In the figure: 1. a checking module; 2. a calibration stand; 3. longitudinally communicating the guide rails; 4. a transverse transport rail; 5. a marking mechanism; 6. rail changing steering seats; 7. a support frame; 8. a drive base; 9. an identification mechanism; 10. a support plate; 11. a connecting member; 12. then the rail is sent to a transverse rail; 13. hanging a longitudinal rail; 14. moving the base; 15. then the telescopic rod is sent; 16. clamping a meter telescopic rod; 17. clamping the surface abutting plate; 18. bending the rail in an arc shape; 19. an electric rotating base; 20. a linear guide rail; 21. an auxiliary positioning table; 22. an oblique guide table-board; 23. a guide edge; 24. an elastic cushion.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-7, the present invention provides an automatic meter hanging device for electric energy meter calibration, which comprises a guiding and positioning track and X meter hanging robots, wherein X is equal to or less than M, and the guiding and positioning track is configured on a calibration platform 2 provided with M rows of calibration modules 1, as shown in fig. 1, 3 rows of calibration modules 1 are arranged on the calibration platform 2, and for this purpose, 1 group of longitudinal communication guide rails 3 and 3 groups of transverse transportation guide rails 4 are arranged on the guiding and positioning track;
the calibration devices on the calibration table 2 of the general electric energy meter are distributed in a regular row and column mode, the automatic meter hanging device can be directly transformed on the existing calibration table 2, only a track and a corresponding meter hanging robot are needed to be additionally arranged, a brand-new calibration table 2 is not needed to be produced, and the use, application and modification cost is reduced.
The guide positioning track comprises a group of longitudinal communication guide rails 3 and M groups of transverse transportation guide rails 4: the transverse transport guide rails 4 comprise top transverse rails and bottom transverse rails, and the top transverse rails and the bottom transverse rails are respectively arranged at the top and the bottom of the row in which the verification modules 1 are arranged in parallel; the longitudinal communication guide rail 3 comprises two longitudinal rails, and the longitudinal communication guide rail 3 is connected to the most edge of the transverse transportation guide rail 4, so that the construction of an actual guide positioning rail is facilitated;
as shown in fig. 1, the longitudinal communication guide rail 3 and the transverse transportation guide rail 4 with the intersection point can cover all the verification modules 1, the transverse transportation guide rail 4 can communicate the verification modules 1 on the verification table 2, and the longitudinal communication guide rail 3 can communicate the transverse transportation guide rail 4, so that the meter hanging robot can reach the position of any verification module 1 on the guide positioning rail, and the electric energy meter can be conveniently transported and hung.
The longitudinal communication guide rail 3 is vertically crossed and connected with all the transverse transportation guide rails 4, and a rail changing steering seat 6 is arranged at the position where the transverse transportation guide rails 4 and the longitudinal communication guide rail 3 are crossed and have branches. Specifically, a notch is formed in the intersection of the transverse transport guide rail 4 and the longitudinal communication guide rail 3, if a branch exists in the notch, the rail-changing steering seat 6 is configured, and if a branch does not exist in the notch, the arc-shaped bent rail 18 is configured, and the transverse transport guide rail 4 and the longitudinal communication guide rail 3 are in butt joint through the arc-shaped bent rail 18.
As shown in fig. 7, the rail-changing steering base 6 includes an electric rotating base 19 and a linear guide 20, a fixed portion of the electric rotating base 19 is fixedly connected to the calibration stand 2, and an outer side of a rotating portion of the electric rotating base 19 is connected to the linear guide 20. In actual use, steering processing is carried out according to the moving path of the meter hanging robot, so that track switching of the meter hanging robot between the transverse transportation guide rail 4 and the longitudinal communication guide rail 3 is realized.
As shown in fig. 2, the meter hanging robot includes a supporting frame 7, a driving base 8, a meter hanging manipulator and an identification mechanism 9, which are correspondingly connected, the driving base 8 is connected with the guiding and positioning track in a sliding manner, and is used for driving the supporting frame 7 to move on the guiding and positioning track, wherein the driving base 8 is a seat body capable of actively moving on the guide rail, so that the whole meter hanging robot can move, and the meter hanging manipulator is used for clamping the electric energy meter to be tested and hanging the electric energy meter to be tested on the checking module 1.
Specifically, the supporting frame 7 comprises two parallel opposite supporting plates 10, and connecting pieces 11 are respectively and fixedly connected between the top and the bottom of the two supporting plates 10; the driving base 8 is arranged at the end part of the supporting plate 10 facing to one side of the calibration table 2;
as shown in fig. 3-5, the inside of the support plate 10 is provided with a meter hanging moving guide rail, the meter hanging moving guide rail comprises a rear-feeding transverse rail 12 and a lower-hanging longitudinal rail 13, and the top end of the lower-hanging longitudinal rail 13 is butted with one end of the rear-feeding transverse rail 12 facing the calibration stand 2; when the meter hanging mechanical arm moves in the meter hanging moving guide rail, the electric energy meter can be sent back and pressed down along the path direction of the meter hanging moving guide rail, and meter hanging operation is realized.
The meter hanging mechanical arm is arranged in the meter hanging moving guide rail and comprises a moving base 14, a backward feeding telescopic rod 15, a meter clamping telescopic rod and a meter clamping abutting plate 17; one side of the movable base 14 is connected with the movable guide rail of the hanging meter in a sliding mode, the movable guide rail of the hanging meter is used for moving, one end, back to the calibration table 2, of the back feeding telescopic rod 15 is fixedly connected with the other side of the movable base 14, one end, facing the calibration table 2, of the back feeding telescopic rod 15 is fixedly connected with one end, facing the supporting plate 10, of the meter clamping telescopic rod 16, and the other end, back to the electric energy meter to be measured, of the meter clamping supporting plate 17 is fixedly connected with one side, back to the electric energy meter, of the meter clamping telescopic rod 16.
In actual use, when the two meter clamping telescopic rods 16 extend, the two meter clamping abutting plates 17 are driven to approach each other, and the electric energy meter is clamped; as shown in fig. 6, the backward feeding telescopic rod 15 can drive the electric energy meter to move towards the direction of the checking table 2, and the backward feeding and pressing of the electric energy meter are realized under the transportation effect of the moving base 14 moving in the meter hanging moving guide rail.
The control presss from both sides the table telescopic link 16, can control the centre gripping of electric energy meter and release, and the control is sent telescopic link 15 afterwards, can adjust the distance of electric energy meter and check-up table 2, and the control removes distance and the vertical position that base 14 can control electric energy meter and check-up table 2 to the realization is to articulating the operation of electric energy meter.
Still be provided with auxiliary positioning platform 21 on braced frame 7, auxiliary positioning platform 21's bottom surface is connected with the connecting piece 11 parallel and level that is located the bottom, auxiliary positioning platform 21 towards one side of check-up platform 2 and backup pad 10 towards one side border parallel and level of check-up platform 2, auxiliary positioning platform 21 is provided with slant guide mesa 22 in the one side of check-up platform 2 dorsad, auxiliary positioning platform 21's top surface is perpendicular with the face of pressing from both sides table buttressing 17 place, auxiliary positioning platform 21's top surface and slant guide mesa 22 have smooth excessive direction along 23.
As shown in fig. 4, the auxiliary positioning table 21 plays a role in guiding and positioning when the electric energy meter is sent to the robot, so that the positions of the electric energy meter in the supporting frame 7 are accurate and consistent, and when the electric energy meter is accepted by the meter hanging robot, the acceptance at a standard position is achieved, and the subsequent electric energy meter can be conveniently and accurately hooked.
Specifically, press from both sides table buttressing plate 17 and be provided with elastic cushion 24 towards one side of the electric energy meter that awaits measuring, frictional force when can increase the centre gripping for the transportation of electric energy meter on hanging the table machine is more firm.
The lateral transport rails 4 correspond to the row in which the check module 1 is located, and the marking mechanism 5 is disposed at a position of the lateral transport rails 4 corresponding to the check module 1. And the meter hanging robot is provided with an identification mechanism 9 matched with the marking mechanism 5 and used for identifying the position of the verification module 1. Marking mechanism 5 is position signal transmitter, and marking mechanism 5 locates the top cross rail top and is corresponding to the position of check-up module 1 positive middle part, and recognition mechanism 9 is the position receiver who matches with position signal transmitter, and recognition mechanism 9 locates the middle part of the connecting piece 11 that is located the top, when both positions correspond, then explains that the table hanging robot has transported the accurate position, at this moment hangs the table operation, just can improve the rate of accuracy that articulates the position greatly.
The working principle of the meter hanging device is as follows: the meter hanging manipulator of the meter hanging robot can control the distance between the two meter clamping resisting plates 17 by controlling the expansion and contraction of the meter clamping telescopic rod 16, so that the electric energy meter can be controlled to be clamped or released; the distance between the electric energy meter and the calibration module 1 is controlled by controlling the expansion of the rear feeding expansion link 15; the movable base 14 is controlled to move in the meter hanging movable guide rail, and the distance and the height between the electric energy meter and the checking module 1 are controlled, so that operations of clamping, releasing, meter hanging and the like of the electric energy meter can be realized; the guide positioning track can be matched with a driving base 8 of the meter hanging robot to provide a transportation track, and meanwhile, the rail changing steering seat 6 is arranged, so that the steering operation of the label hanging robot can be realized, and the flexible moving transportation of the meter hanging robot in the range of the checking table 2 can be realized; the whole meter hanging robot can receive and convey the electric energy meter of the upper meter manipulator at a single position, and a plurality of meter hanging robots can work simultaneously, so that the actual meter hanging efficiency can be greatly improved; the meter hanging robot and the guide positioning track are respectively provided with the identification mechanism 9 and the marking mechanism 5 corresponding to the position of the check module 1, so that the meter hanging robot can accurately identify the position of the check module 1, the meter hanging operation can be accurately carried out in the transportation and meter hanging processes, and the accuracy of the actual meter hanging operation position is greatly improved.
Corresponding to the automatic meter hanging device for electric energy meter verification, the invention also provides a corresponding meter hanging method, which comprises the following steps:
s1, additionally arranging a guide positioning track corresponding to the position of a verification module 1 on a verification table 2, and configuring a meter hanging robot on the guide positioning track; in the step, the verification table 2 can directly produce the verification table 2 with the meter hanging device, and can also be directly modified on the existing verification table 2, and the existing verification table 2 is generally in regular row-column distribution, so that only the guide positioning track and the meter hanging robot need to be modified.
It should be noted that if there are M rows of calibration modules 1, it is preferable that there are only no more than M meter-hanging robots, and after the calibration modules 1 are all hung on the electric energy meter, all the meter-hanging robots are transferred to the longitudinal communication guide rail 3 for easy observation and control, so that it is best to set up at most M meter-hanging robots.
S2, according to the position of each checking module 1 on the checking platform 2 and the position of the set initial upper epitope, carrying out serial numbering on each checking module 1 in a form hanging sequence; taking fig. 1 as an example, a list order numbering table is established as follows:
the position of the initial meter-mounting position is generally arranged in the middle of the longitudinal communication guide rail 3, so that the initial meter-mounting position of the position can enable the total distance of the meter-mounting robot to be minimum in the meter-mounting process of the whole checking platform 2, the actual meter-mounting operation time is enabled to be shortest, and the efficiency can be increased to the maximum degree.
The waiting upper epitope and the initial upper epitope are waiting positions for the meter hanging robot, when the meter hanging is transported, all the meter hanging robots are positioned on the longitudinal communication guide rail 3, then the corresponding meter hanging robots transport and hang the meter in sequence according to the meter hanging sequence, after the meter hanging is completed, the corresponding waiting upper epitope is immediately returned, the corresponding row where the initial upper epitope is positioned is waited at the position closest to the initial upper epitope, and therefore the next round of transportation and meter hanging can be rapidly put into.
S3, acquiring a meter-mounting signal, and controlling a meter-mounting robot corresponding to the current meter-mounting sequence number to reach an initial meter-mounting position; the upper meter signal is sent by the whole control system, the control content comprises a meter hanging robot, a rail changing steering seat 6 and instruments for upper meter, generally an upper meter mechanical hand, and the upper meter mechanical hand is used for transferring the electric energy meter to be tested on the AGV loading trolley to an initial upper meter position.
S4, after the meter hanging robot reaches the initial upper meter position, carrying the electric energy meter to be tested; namely, the hanging meter is controlled to actively take hands to carry the electric energy meter to be tested sent from the upper meter manipulator.
S5, after the electric energy meter to be detected is received, the meter hanging robot is controlled to transport the electric energy meter to be detected to the checking module 1 corresponding to the current meter hanging sequence number, namely the electric energy meter to be detected is transported to the corresponding meter hanging detection position on the guide positioning track;
s6, controlling a meter hanging robot to act, and hanging the electric energy meter to be tested on the checking module 1;
and S7, after the meter hanging operation is finished, controlling the meter hanging robot to return to wait for the meter loading or initially load the meter loading.
Specifically, in the moving process of the meter hanging robot, the guide positioning track is controlled to be adjusted and matched according to the moving path of the meter hanging robot, namely the rail changing steering seat 6 is enabled to rotate transversely and longitudinally, and therefore transverse bearing, longitudinal bearing and steering operation can be carried out according to the moving path of the meter hanging robot.
It should be noted that the application basis of the meter hanging device and the meter hanging method is that under the condition of the existing automatic upper meter manipulator, the existing intelligent upper meter manipulator needs to clamp the electric energy meter to be tested from a shelf or an AGV loading trolley and transfer and hang the electric energy meter to the verification module 1, in the process, as the upper meter manipulator has certain errors, the error range possibly exceeds the wiring position distance between the verification module 1 and the electric energy meter to be tested, so that the meter hanging is not in place, and the actual electric energy meter verification result is influenced.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.
Claims (9)
1. The utility model provides an automatic table device of hanging for electric energy meter check-up which characterized by: the system is arranged on a calibration table (2) provided with M rows of calibration modules (1) and comprises a guide positioning track and X meter hanging robots, wherein X is less than or equal to M;
the guide positioning track comprises a group of longitudinal communication guide rails (3) and M groups of transverse transportation guide rails (4);
the transverse transport guide rails (4) correspond to the row where the checking module (1) is located, a marking mechanism (5) is arranged at the position, corresponding to the checking module (1), of each transverse transport guide rail (4), the longitudinal communication guide rails (3) are perpendicularly connected with all the transverse transport guide rails (4) in a cross mode, and rail changing steering seats (6) are arranged at the positions, where the transverse transport guide rails (4) and the longitudinal communication guide rails (3) are crossed and branch circuits exist, of the transverse transport guide rails;
the meter hanging robot comprises a supporting frame (7), a driving base (8), a meter hanging mechanical arm and an identification mechanism (9), wherein the supporting frame (7), the driving base (8), the meter hanging mechanical arm and the identification mechanism (9) are correspondingly connected, the driving base (8) is connected with the guide positioning track in a sliding mode and used for driving the supporting frame (7) to move on the guide positioning track, the identification mechanism (9) is matched with the marking mechanism (5) and used for identifying the position of the checking module (1), and the meter hanging mechanical arm is used for clamping an electric energy meter to be detected and hanging the electric energy meter to be detected on the checking module (1);
the supporting frame (7) comprises two parallel and opposite supporting plates (10), and connecting pieces (11) are respectively and fixedly connected between the tops and the bottoms of the two supporting plates (10); the driving base (8) is arranged at the end part of one side, facing the calibration table (2), of the supporting plate (10);
the inner side of the supporting plate (10) is provided with a meter hanging moving guide rail, the meter hanging moving guide rail comprises a rear conveying transverse rail (12) and a lower hanging longitudinal rail (13), and the top end of the lower hanging longitudinal rail (13) is butted with one end, facing the calibration table (2), of the rear conveying transverse rail (12);
the meter hanging mechanical hand is arranged in the meter hanging moving guide rail and comprises a moving base (14), a backward feeding telescopic rod (15), a meter clamping telescopic rod (16) and a meter clamping abutting plate (17); one side of moving base (14) with hang table movable guide sliding connection, send telescopic link (15) backward the one end of check-up platform (2) with the opposite side fixed connection who moves base (14), send telescopic link (15) orientation after with the one end of check-up platform (2) with press from both sides table telescopic link (16) orientation the one end fixed connection of backup pad (10), the other end that presss from both sides table telescopic link (16) with press from both sides one side fixed connection that table buttressing plate (17) dorsad the electric energy meter that awaits measuring.
2. The automatic meter hanging device for electric energy meter verification according to claim 1, wherein: the transverse transport guide rails (4) comprise top transverse rails and bottom transverse rails, and the top transverse rails and the bottom transverse rails are respectively arranged at the tops and the bottoms of the rows and columns where the checking modules (1) are located in parallel; longitudinal communication guide rail (3) include two and indulge the rail transverse transportation guide rail (4) with longitudinal communication guide rail (3) are provided with the breach in the cross section, if there is the branch road in breach department, then dispose trade rail steering seat (6), if there is not the branch road in breach department, then dispose curved rail of arc (18) to through curved rail of arc (18) butt joint transverse transportation guide rail (4) with longitudinal communication guide rail (3).
3. The automatic meter hanging device for electric energy meter verification as claimed in claim 2, wherein: trade rail turning seat (6) and include electric swivel base (19) and linear guide (20), the fixed part of electric swivel base (19) for calibration bench (2) fixed connection, the rotating part outside of electric swivel base (19) with linear guide (20) are connected.
4. The automatic meter hanging device for electric energy meter verification according to claim 3, wherein: still be provided with auxiliary positioning platform (21) on braced frame (7), the bottom surface of auxiliary positioning platform (21) is connected with connecting piece (11) parallel and level that are located the bottom, auxiliary positioning platform (21) orientation one side of check-up platform (2) with backup pad (10) orientation one side border parallel and level of check-up platform (2), auxiliary positioning platform (21) dorsad one side of check-up platform (2) is provided with slant guide mesa (22), the top surface of auxiliary positioning platform (21) with press from both sides table buttressing board (17) place face perpendicular, the top surface of auxiliary positioning platform (21) with slant guide mesa (22) have the direction edge (23) of smooth transition.
5. The automatic meter hanging device for the electric energy meter verification as claimed in claim 4, characterized in that: marking mechanism (5) are position signal transmitter, marking mechanism (5) are located top cross rail top corresponds to the position of check-up module (1) middle part, recognition mechanism (9) be with the position receiver that position signal transmitter matches, recognition mechanism (9) are located the centre portion of connecting piece (11) that are located the top.
6. The automatic meter hanging device for electric energy meter verification according to claim 5, wherein: and an elastic soft cushion (24) is arranged on one side of the meter clamping supporting plate (17) facing the electric energy meter to be tested.
7. The automatic meter hanging device for electric energy meter verification according to claim 6, wherein: the longitudinal communication guide rail (3) is connected to the most edge of the transverse transportation guide rail (4).
8. An automatic meter hanging method for electric energy meter verification implemented by the device of claim 1, characterized by: the method comprises the following steps:
a guide positioning track corresponding to the position of the verification module (1) is additionally arranged on the verification table (2), and a meter hanging robot is configured on the guide positioning track;
according to the positions of all the check modules (1) on the check table (2) and the positions of the set initial upper epitopes, sequentially numbering the check modules (1) in a form hanging manner;
acquiring a meter-mounting signal, and controlling a meter-mounting robot corresponding to the current meter-mounting sequence number to reach an initial meter-mounting position;
after the meter hanging robot reaches the initial upper meter position, the electric energy meter to be tested is received;
after the electric energy meter to be tested is received, the meter hanging robot is controlled to transport the electric energy meter to be tested to the verification module (1) corresponding to the current meter hanging sequence number;
controlling the meter hanging robot to act, and hanging the electric energy meter to be tested on the checking module (1);
and after the meter hanging operation is finished, controlling the meter hanging robot to return to wait for the meter loading position or initially load the meter loading position.
9. The automatic meter hanging method for electric energy meter verification according to claim 8, characterized by comprising the following steps: and in the moving process of the meter hanging robot, the guide positioning track is controlled to be adjusted and matched according to the moving path of the meter hanging robot.
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| CN202211612248.4A CN115592644B (en) | 2022-12-15 | 2022-12-15 | Automatic meter hanging device and method for electric energy meter calibration |
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| CN202211612248.4A CN115592644B (en) | 2022-12-15 | 2022-12-15 | Automatic meter hanging device and method for electric energy meter calibration |
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| CN115592644B true CN115592644B (en) | 2023-03-14 |
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| CN115592644A (en) | 2023-01-13 |
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