CN202174585U - Robot loading and unloading device for electric energy meter - Google Patents

Robot loading and unloading device for electric energy meter Download PDF

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Publication number
CN202174585U
CN202174585U CN2011202608884U CN201120260888U CN202174585U CN 202174585 U CN202174585 U CN 202174585U CN 2011202608884 U CN2011202608884 U CN 2011202608884U CN 201120260888 U CN201120260888 U CN 201120260888U CN 202174585 U CN202174585 U CN 202174585U
Authority
CN
China
Prior art keywords
electric energy
energy meter
mechanical arm
sucker
meter
Prior art date
Application number
CN2011202608884U
Other languages
Chinese (zh)
Inventor
严华江
吴坚
肖涛
徐永进
董强
丁荣荣
Original Assignee
浙江省电力公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江省电力公司 filed Critical 浙江省电力公司
Priority to CN2011202608884U priority Critical patent/CN202174585U/en
Priority claimed from US13/980,538 external-priority patent/US9207302B2/en
Application granted granted Critical
Publication of CN202174585U publication Critical patent/CN202174585U/en

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Abstract

The utility model relates to a robot loading and unloading device for an electric energy meter, which solves the technical problem that loading and unloading of current electric energy meter is still operated manually with low efficiency. The utility model comprises a meter box transport chain, a tool plate transport chain and an empty box buffering chain. A multiple shaft linkage mechanical arm is arranged among the meter box transport chain, the tool plate transport chain and the empty box buffering chain. The mechanical arm is provided with a conversion adapter, and a paper box clamp and an electric energy meter sucking disc are respectively provided with conversion interfaces matched with the conversion adapter. The paper box clamp and the electric energy meter sucking disc are placed in a changing table. An electric energy meter transferring table is arranged at one side of the mechanical arm. The transferring table is provided with an electric energy meter positioning bump. The utility model re-positions the electric energy meter precisely, eliminates the impact of tolerance of an inner model of the meter box, reduces the mobile error, improves the placing precision of the electric energy meter on the tool plate and has high clamping reliability, improves the production efficiency and is suitable for application and use in a large range.

Description

A kind of electric energy meter robot handling equipment
Technical field
The utility model relates to transfer equipment, especially a kind of electric energy meter robot handling equipment.
Background technology
Convenient for the calibrating of electric energy meter, generally electric energy meter is moved to the frock plate from the table case and examine and determine, after finishing, operations such as calibrating again electric energy meter is moved back to the table case from the frock plate; Because the electric energy meter in the table case is put for perpendicular; And the electric energy meter that is used to detect on the frock plate must face the testing of electric energy meter outer and horizontal positioned, so the electric energy meter in the table case must be through just putting into the frock plate after turning to, and the internal mold to the electric energy meter location has bigger tolerance existence again in the table case; Electric energy meter detection position on the frock plate is very accurate again; So will reach above-mentioned requirements through manipulator, it is bigger to accomplish the transfer difficulty of electric energy meter between frock plate and table case, and current above-mentioned transfer work still is manually-operated mostly; This working method labour intensity is big, inefficiency, has not fitted into the production needs of industrial automation.
The utility model content
The purpose of the utility model is that a kind of electric energy meter robot handling equipment is provided for the deficiency that solves above-mentioned prior art, realizes the mechanization transfer of electric energy meter between table case and single epi-position frock plate, and transfer positional precision height.
In order to achieve the above object; The utility model designed a kind of electric energy meter robot handling equipment; Comprise table case carrier chain, frock plate carrier chain and empty van buffer memory chain, it is characterized in that being provided with a multi-shaft interlocked mechanical arm between the above-mentioned three that described mechanical arm is provided with crossover sub; One carton anchor clamps and an electric energy meter sucker are respectively equipped with the translation interface that is complementary with crossover sub; Described carton anchor clamps and electric energy meter sucker are positioned over one and change on the platform, and a side of said mechanical arm is provided with an electric energy meter intermediate station, and described intermediate station is provided with the electric energy meter positioning convex.Described positioning convex can have a plurality of, and the shape of composition and electric energy meter shape are complementary, and electric energy meter can be contained between the positioning convex.
Running: the table case that will accommodate electric energy meter when table case carrier chain is delivered to assigned address, and mechanical arm is through programme-control, changing-over electric energy meter sucker; The electric energy meter sucker is with mechanical arm displacement and hold the upper surface of showing electric energy meter in the case, electric energy meter is transported in the locating slot of intermediate station, and the electric energy meter sucker discharges electric energy meter; Electric energy meter is positioned between the positioning convex, and the electric energy meter sucker vertically turns over and turn 90 degrees then, holds the side of electric energy meter again; With its according to the detection side to being delivered on the frock plate; Accomplish the material loading of electric energy meter, when the electric energy meter in the table case has all been got, mechanical arm changing-over carton anchor clamps; The carton anchor clamps are with mechanical arm displacement and grasp the table case, will show case and be delivered on the empty van buffer memory chain; Electric energy meter calibration on the frock plate carries out blanking after accomplishing, and blanking action is the negative actuation of material loading.
The present technique scheme is the special-purpose machinery equipment of carrying electric energy meter between table case and frock plate, can make its automatic operating through programme-control, enhances productivity, and saves human resources; Through being set, intermediate station comes again electric energy meter accurately to be located; Eliminate the tolerances of table case internal mold; Reduce displacement error; Improved the precision of laying of electric energy meter on the frock plate, and the face that changes that the electric energy meter sucker is accomplished electric energy meter through intermediate station grasps turning to when realizing the electric energy meter loading and unloading; Satisfy each item requirement in the electric energy meter loading and unloading transfer process, be suitable for large range promotion use.
Improve and replenish as the further of said structure, the utility model also comprises the combination in any of following additional technical feature or these characteristics:
Described electric energy meter sucker is made up of fixed head, bolster and sponge sucker; Described fixed head one side is equipped with translation interface; The fixed head opposite side is equipped with bolster; The sponge sucker is equipped with in the described bolster outside, and bolster can cushion when the sponge sucker is drawn electric energy meter, the damage that is not squeezed of protection electric energy meter.
Described sponge sucker has a plurality of and is arranged side by side, and it is higher, more firm to draw intensity, satisfies the needs of more large-scale electric energy meter.
Described carton anchor clamps comprise fixture stand, and described fixture stand one side is equipped with the dress alias, and opposite side is furnished with a plurality of pneumatic jaws, and the vertical edge of pneumatic jaw extracting table case carries out displacement.
Described pneumatic jaw has three and triangular in shape being distributed on the fixture stand; Wherein two clamping directions are consistent, a vertical edge of clamping table case, and another one then is clamped on the adjacent side of above-mentioned vertical edge; 3 clampings; Under the least possible situation of pneumatic jaw quantity, guarantee higher clamping reliability, be difficult for rocking.
Described mechanical arm is the six-axis linkage robot, can be outsourcing piece, for example: peace river motoman-mh6 etc.
A kind of electric energy meter robot handling equipment that the utility model obtains is accurately located electric energy meter again, eliminates the tolerances of table case internal mold, reduces displacement error; Improved the precision of laying of electric energy meter on the frock plate, and the clamping reliability is high, in the electric energy meter transfer process; Loss percentage is low, satisfies each item requirement in the electric energy meter loading and unloading transfer process, full-automatic operation; Enhance productivity, save human resources, be suitable for large range promotion use.
Description of drawings
Fig. 1 is the structural representation of the utility model;
Fig. 2 is the structural representation of the utility model mechanical arm;
Fig. 3 is the structural representation of the utility model electric energy meter sucker;
Fig. 4 is the structural representation of the utility model carton anchor clamps;
Fig. 5 is the structural representation of the utility model intermediate station.
Among the figure: 1-table case carrier chain, 2-frock plate carrier chain, 3-empty van buffer memory chain, 4-mechanical arm, 5-carton anchor clamps, 6-electric energy meter sucker, 7-change platform, 8-intermediate station, 9-crossover sub, 10-electric energy meter, 11-frock plate, 12-sponge sucker, 13-bolster, 14-fixed head, 15-fixture stand, the pneumatic jaw of 16-, 17-positioning convex.
The specific embodiment
Combine accompanying drawing that the utility model is done further to describe through embodiment below.
Like Fig. 1-shown in Figure 5; A kind of electric energy meter robot handling equipment that present embodiment is described; Comprise table case carrier chain 1, frock plate carrier chain 2 and empty van buffer memory chain 3; Be provided with a multi-shaft interlocked mechanical arm 4 between the above-mentioned three, described mechanical arm 4 is provided with crossover sub 9, one carton anchor clamps 5 and an electric energy meter sucker 6 is respectively equipped with the translation interface that is complementary with crossover sub 9; Described carton anchor clamps 5 are positioned over one with electric energy meter sucker 6 and change on the platform 7; One side of said mechanical arm 4 is provided with an electric energy meter intermediate station 8, and intermediate station 8, table case carrier chain 1, frock plate carrier chain 2 and empty van buffer memory chain 3 are separately positioned on four sides of mechanical arm, and carrying on the frock plate carrier chain 2 has frock plate 11.Described intermediate station 8 is provided with a plurality of electric energy meter positioning convex 17, and the shape that positioning convex 17 is formed can be held three electric energy meters 10.Described electric energy meter sucker 6 is made up of fixed head 14, bolster 13 and sponge sucker 12; Described fixed head 14 1 sides are equipped with translation interface; Fixed head 14 opposite sides are equipped with bolster 13; A sponge sucker 12 is equipped with in described bolster 13 outsides, and described sponge sucker 12 also can have a plurality of and be arranged side by side, and is used to adsorb more large-scale electric energy meter.Described carton anchor clamps 5 comprise fixture stand 15, and described fixture stand 15 1 sides are equipped with the dress alias, and opposite side is furnished with a plurality of pneumatic jaws 16.Described pneumatic jaw 16 has three and triangular in shape being distributed on the fixture stand 15, and wherein two clamping directions are consistent.Described mechanical arm 4 is the six-axis linkage robot, and concrete model can be peace river motoman-mh6, and the robot of similar functions is more in the market, not at this detailed description.

Claims (6)

1. electric energy meter robot handling equipment; Comprise table case carrier chain (1), frock plate carrier chain (2) and empty van buffer memory chain (3); It is characterized in that being provided with between the above-mentioned three a multi-shaft interlocked mechanical arm (4); Described mechanical arm (4) is provided with crossover sub (9), and carton anchor clamps (5) and an electric energy meter sucker (6) are respectively equipped with the translation interface that is complementary with crossover sub (9), and described carton anchor clamps (5) and electric energy meter sucker (6) are positioned over one and change on the platform (7); One side of said mechanical arm (4) is provided with an electric energy meter intermediate station (8), and described intermediate station (8) is provided with electric energy meter positioning convex (17).
2. electric energy meter according to claim 1 robot handling equipment; It is characterized in that described electric energy meter sucker (6) is made up of fixed head (14), bolster (13) and sponge sucker (12); Described fixed head (14) one sides are equipped with translation interface; Fixed head (14) opposite side is equipped with bolster (13), and sponge sucker (12) is equipped with in described bolster (13) outside.
3. electric energy meter according to claim 2 robot handling equipment is characterized in that described sponge sucker (12) has a plurality of and is arranged side by side.
4. electric energy meter according to claim 1 robot handling equipment is characterized in that described carton anchor clamps (5) comprise fixture stand (15), and described fixture stand (15) one sides are equipped with the dress alias, and opposite side is furnished with a plurality of pneumatic jaws (16).
5. electric energy meter according to claim 4 robot handling equipment is characterized in that described pneumatic jaw (16) has three and triangular in shape being distributed on the fixture stand (15), and wherein two clamping directions are consistent.
6. according to each described electric energy meter robot handling equipment of claim 1-5, it is characterized in that described mechanical arm (4) is the six-axis linkage robot.
CN2011202608884U 2011-07-22 2011-07-22 Robot loading and unloading device for electric energy meter CN202174585U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011202608884U CN202174585U (en) 2011-07-22 2011-07-22 Robot loading and unloading device for electric energy meter

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN2011202608884U CN202174585U (en) 2011-07-22 2011-07-22 Robot loading and unloading device for electric energy meter
US13/980,538 US9207302B2 (en) 2011-01-30 2011-11-28 Fully-automatic verification system for intelligent electric energy meters
PCT/CN2011/083028 WO2012100593A1 (en) 2011-01-30 2011-11-28 Fully-automatic verification system for intelligent electric energy meters

Publications (1)

Publication Number Publication Date
CN202174585U true CN202174585U (en) 2012-03-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011202608884U CN202174585U (en) 2011-07-22 2011-07-22 Robot loading and unloading device for electric energy meter

Country Status (1)

Country Link
CN (1) CN202174585U (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN103043436A (en) * 2012-12-28 2013-04-17 杭州厚达自动化系统有限公司 Power meter turnover box delivery mechanism
CN104924296A (en) * 2015-06-26 2015-09-23 国家电网公司 Electric energy meter gripping device
CN105509811A (en) * 2015-12-30 2016-04-20 国网浙江省电力公司电力科学研究院 Automatic detecting system of collectors
CN105598937A (en) * 2016-02-01 2016-05-25 湖北工业大学 Automatic tallying robot for supermarket
CN105668208A (en) * 2015-12-30 2016-06-15 国网浙江省电力公司电力科学研究院 Feeding and discharging equipment for collectors
CN105856934A (en) * 2016-05-16 2016-08-17 广东金弘达自动化科技股份有限公司 Charging and discharging device for carving of wiring terminal
CN105947282A (en) * 2016-05-27 2016-09-21 国网天津市电力公司 Robot automatic container packing system for compatibly processing single-phase and three-phase meters
CN107583881A (en) * 2017-10-19 2018-01-16 国网天津市电力公司电力科学研究院 One kind is used to tear back single-phase electric energy meter narrowband carrier module automatic sorting method open
CN107600523A (en) * 2017-08-16 2018-01-19 国网浙江省电力公司电力科学研究院 A kind of electric energy meter and carton integrated clamp
CN107855291A (en) * 2017-10-19 2018-03-30 国网天津市电力公司电力科学研究院 One kind is used to tear back single-phase electric energy meter bandwidth carrier module automatic sorting method open
CN107876434A (en) * 2017-10-19 2018-04-06 国网天津市电力公司电力科学研究院 One kind is used to tear back three-phase electric energy meter narrowband carrier module automatic sorting method open
CN110980271A (en) * 2019-12-13 2020-04-10 苏州精濑光电有限公司 Conveying device, discharging device and discharging method capable of saving transfer time

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014012304A1 (en) * 2012-07-20 2014-01-23 重庆市电力公司电力科学研究院 Electrical energy meter verification system and robot therefor
CN102749609B (en) * 2012-07-20 2015-07-15 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
EP2876457A4 (en) * 2012-07-20 2015-08-26 Chongqing Electric Power Res Inst Electrical energy meter verification system and robot therefor
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
CN103043436A (en) * 2012-12-28 2013-04-17 杭州厚达自动化系统有限公司 Power meter turnover box delivery mechanism
CN104924296A (en) * 2015-06-26 2015-09-23 国家电网公司 Electric energy meter gripping device
CN105668208B (en) * 2015-12-30 2017-12-29 国网浙江省电力公司电力科学研究院 A kind of loading and unloading equipment of collector
CN105509811A (en) * 2015-12-30 2016-04-20 国网浙江省电力公司电力科学研究院 Automatic detecting system of collectors
CN105668208A (en) * 2015-12-30 2016-06-15 国网浙江省电力公司电力科学研究院 Feeding and discharging equipment for collectors
CN105598937A (en) * 2016-02-01 2016-05-25 湖北工业大学 Automatic tallying robot for supermarket
CN105856934B (en) * 2016-05-16 2018-05-04 广东金弘达自动化科技股份有限公司 A kind of wire connection terminal carves handling equipment
CN105856934A (en) * 2016-05-16 2016-08-17 广东金弘达自动化科技股份有限公司 Charging and discharging device for carving of wiring terminal
CN105947282A (en) * 2016-05-27 2016-09-21 国网天津市电力公司 Robot automatic container packing system for compatibly processing single-phase and three-phase meters
CN107600523A (en) * 2017-08-16 2018-01-19 国网浙江省电力公司电力科学研究院 A kind of electric energy meter and carton integrated clamp
CN107583881A (en) * 2017-10-19 2018-01-16 国网天津市电力公司电力科学研究院 One kind is used to tear back single-phase electric energy meter narrowband carrier module automatic sorting method open
CN107855291A (en) * 2017-10-19 2018-03-30 国网天津市电力公司电力科学研究院 One kind is used to tear back single-phase electric energy meter bandwidth carrier module automatic sorting method open
CN107876434A (en) * 2017-10-19 2018-04-06 国网天津市电力公司电力科学研究院 One kind is used to tear back three-phase electric energy meter narrowband carrier module automatic sorting method open
CN110980271A (en) * 2019-12-13 2020-04-10 苏州精濑光电有限公司 Conveying device, discharging device and discharging method capable of saving transfer time

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