CN209387859U - A kind of electric energy meter calibration table robot against pressure - Google Patents
A kind of electric energy meter calibration table robot against pressure Download PDFInfo
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- CN209387859U CN209387859U CN201920085641.XU CN201920085641U CN209387859U CN 209387859 U CN209387859 U CN 209387859U CN 201920085641 U CN201920085641 U CN 201920085641U CN 209387859 U CN209387859 U CN 209387859U
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- electric energy
- energy meter
- robot
- range sensor
- against pressure
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Abstract
The utility model provides a kind of electric energy meter calibration table robot against pressure, comprising: robot body, range sensor.The utility model passes through the distance between the air-actuated jaw of range sensor robot measurement ontology and underlying object, since the signal that range sensor issues is related to the distance, the shutdown switch of robot can be triggered when distance is less than first threshold then to make robot stopping act, therefore, when there is electric energy meter in pallet, the distance of range sensor measurement can then be less than first threshold, to trigger the shutdown switch of robot to make robot stopping act, prevent robot from another electric energy meter in pallet is damaged by pressure during placing electric energy meter, solves the technical issues of causing electric energy meter to damage by pressure when robot is directly placed on electric energy meter to pallet and has electric energy meter on pallet.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of electric energy meter calibration table robots against pressure.
Background technique
Automation electric energy meter detecting system, that is, inspection table linear system system sufficiently ties automatic technology and electric system calibrating installation
It closes, automation, intellectualized detection for realizing all kinds of electric energy meters.Electric energy meter is needed before formal use in inspection table linear system system
Carry out multiple function test, including voltage-withstand test, appearance power consumption test, accuracy and multifunctional testing etc..Following table in robot
It is the important station for connecting roller line and Bosch line.Efficiently and accurately to realize upper table and following table and simplifying mechanical structure, usually
Robot is selected to realize this movement.By realizing the clamping of electric energy meter in the joint tip designs fixture of robot and putting
It sets.
However present robot is directly placed on electric energy meter to pallet on robot pneumatic fixture, can not judge to place
Whether pallet has table in the process, if at this time since inspection table line failure either other mistakes lead to natively the presence of electric energy on pallet
Table, then will lead to the electric energy meter and support on robot pneumatic fixture when robot is directly placed on electric energy meter to pallet
Electric energy meter on disk collides and damages electric energy meter by pressure.
Utility model content
The utility model discloses a kind of electric energy meter verification robot meter apparatus against pressure and table robots against pressure, for solving
The technical issues of causing electric energy meter to damage by pressure when robot is directly placed on electric energy meter to pallet and has electric energy meter on pallet.
The utility model provides a kind of electric energy meter calibration table robot against pressure, comprising: robot body, Distance-sensing
Device；
Range sensor is fixed on the air-actuated jaw of robot body；
When robot body places electric energy meter, range sensor is aligned in the position that electric energy meter is placed on pallet, is used for
Measure the distance between air-actuated jaw and underlying object；
Range sensor is also connected with the shutdown switch of robot body, for when between air-actuated jaw and underlying object away from
From the shutdown switch triggering robot stopping movement for sending a signal to robot body when being less than first threshold.
It preferably, include comparator in range sensor；
The first input end of comparator receives the distance between the air-actuated jaw that range sensor is measured and underlying object, than
The second input terminal compared with device is connected and fixed threshold voltage source or fixed threshold current source；
The shutdown switch of the output end connection robot body of comparator.
Preferably, first threshold 300mm.
Preferably, range sensor is specially laser range sensor.
Preferably, laser range sensor connects 24V power supply.
Preferably, laser range sensor includes laser, modulator, phase discriminator and apart from display module；
Laser connection modulator is for emitting laser to testee；
Phase discriminator is aligned testee, for measuring the distance between laser range sensor and testee；
Phase discriminator is connected apart from display module, is used for display distance.
It preferably, further include alarm；
Alarm connects range sensor, for when the distance between air-actuated jaw and underlying object are less than first threshold
Issue alarm signal.
Preferably, range sensor sends low level and does not trigger stopping movement then to shutdown switch, sends high level to stopping
It only switchs, triggers robot stopping movement.
Preferably, pallet is specially removable pallet, for carrying electric energy meter.
Preferably, multiple epitopes for placing electric energy meter are provided on pallet.
As can be seen from the above technical solutions, the utility model embodiment has the advantage that
The utility model provides a kind of electric energy meter calibration table robot against pressure, comprising: robot body, Distance-sensing
Device；Range sensor is fixed on the air-actuated jaw of robot body；When robot body places electric energy meter, range sensor
It is aligned in the position that electric energy meter is placed on pallet, for measuring the distance between air-actuated jaw and underlying object；Range sensor
It is also connected with the shutdown switch of robot body, for sending out when the distance between air-actuated jaw and underlying object are less than first threshold
The shutdown switch triggering robot stopping of the number of delivering letters to robot body acts.The utility model passes through range sensor measuring machine
The distance between air-actuated jaw and underlying object of device human body, since the signal that range sensor issues is related to the distance,
The shutdown switch of robot can be triggered when distance is less than first threshold then to make robot stopping act, therefore,
When there is electric energy meter in pallet, the distance of range sensor measurement can then be less than first threshold, to trigger the stopping of robot
Switch prevents robot during placing electric energy meter another electric energy gauge pressure in pallet to make robot stopping act
It is bad, solve the technology for causing electric energy meter to damage by pressure when robot is directly placed on electric energy meter to pallet and has electric energy meter on pallet
Problem.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of one embodiment of electric energy meter calibration table robot against pressure provided in the utility model embodiment
One of structural schematic diagram；
Fig. 2 is a kind of one embodiment of electric energy meter calibration table robot against pressure provided in the utility model embodiment
Second structural representation；
Fig. 3 is in a kind of one embodiment of electric energy meter calibration table robot against pressure provided in the utility model embodiment
The elementary diagram of laser range sensor；
Fig. 4 is in a kind of one embodiment of electric energy meter calibration table robot against pressure provided in the utility model embodiment
Laser range sensor measuring principle figure；
Wherein, appended drawing reference are as follows:
1, range sensor；2, the air-actuated jaw of robot body.
Specific embodiment
The utility model discloses a kind of electric energy meter verification robot meter apparatus against pressure and table robots against pressure, for solving
The technical issues of causing electric energy meter to damage by pressure when robot is directly placed on electric energy meter to pallet and has electric energy meter on pallet.
Fig. 1 and Fig. 2 are please referred to, the one of a kind of electric energy meter calibration provided in the utility model embodiment table robot against pressure
A embodiment, comprising: robot body, range sensor 1；
Range sensor 1 is fixed on the air-actuated jaw 2 of robot body；
When robot body places electric energy meter, range sensor 1 is aligned in the position that electric energy meter is placed on pallet, is used for
Measure the distance between air-actuated jaw 2 and underlying object；
Range sensor 1 is also connected with the shutdown switch of robot body, between air-actuated jaw 2 and underlying object
Distance sends a signal to the shutdown switch triggering robot stopping movement of robot body when being less than first threshold.
Wherein, first threshold is set according to electric energy table size, usually 300mm.Since range sensor 1 is exportable and institute
Ranging is from relevant signal, such as voltage signal, and the distance measured is bigger, and voltage is bigger, then can set a threshold value (with
One threshold value is different but related, and if first threshold is 300mm, then this threshold value can be the corresponding voltage threshold of 300mm, such as
3mV), when the voltage signal is less than the threshold value, since voltage is smaller, lead to the triggering state that is in of shutdown switch, touching
Hair robot stopping movement (sends high level and does not trigger stopping movement then to the shutdown switch, send low level and stop to described
It only switchs, triggers the robot stopping movement).Phase inverter can also be set according to the case where shutdown switch.
The shutdown switch can be the emergency stop switch that robot body is just provided with or other switches.
What range sensor 1 measured is the distance between air-actuated jaw 2 and underlying object, when not having electric energy meter on pallet
When, then air-actuated jaw 2 can be measured at a distance from pallet, it is general bigger, and when there is electric energy meter on pallet, then it can measure
Air-actuated jaw 2 is at a distance from electric energy meter, this distance is general smaller, because electric energy meter has certain height.Therefore can lead to
The distance between measurement air-actuated jaw 2 and underlying object is crossed to judge on pallet with the presence or absence of electric energy meter.
The utility model by between the air-actuated jaw 2 and underlying object of 1 robot measurement ontology of range sensor away from
From since the signal that range sensor 1 issues is related to the distance, then machine can be triggered when apart from less than first threshold
The shutdown switch of device people is to make robot stopping act, therefore, when there is electric energy meter in pallet, what range sensor 1 measured
Distance can then be less than first threshold, to trigger the shutdown switch of robot to make robot stopping act, prevent robot
Another electric energy meter in pallet is damaged by pressure during placing electric energy meter, solves and directly places electric energy meter to support in robot
The technical issues of causing electric energy meter to damage by pressure when having electric energy meter on disk and on pallet.
The utility model detects epitope up and down to determine whether with the presence of table, to meet automatic by range sensor 1
Change the demand in electric energy meter detecting system, robot clamping electric energy meter need to be placed to when putting epitope, and whether epitope has table under detecting,
If there is table then stops robot motion and alarm request manual intervention.Such as the distance >=300MM, robot carries out following table
Movement, otherwise robot stopping acts and reports host computer and generates sound-light alarm.The utility model is to prevent pressure table accident
Occur, increases laser range sensor on the basis of former robot pneumatic fixture 2, when laser range sensor detects to meet
Movement is performed the next step again when putting table movement, further ensures that safety of electric energy meter during robot following table.
It further, include comparator in range sensor 1；
The first input end of comparator receives the distance between the air-actuated jaw 2 that range sensor 1 is measured and underlying object
(voltage form or current forms), the second input terminal of comparator are connected and fixed threshold voltage source or fixed threshold current source；
The shutdown switch of the output end connection robot body of comparator.
The signal of the signal of first input end and the second input terminal is compared by comparator, if the signal of first input end
More than or equal to the signal of the second input terminal, then output signal " 1 ", if the signal of first input end is less than the letter of the second input terminal
Number, then output signal " 0 ", in this way, can connect by the shutdown switch of the robot of Digital Signals.
The voltage threshold or current threshold of fixed threshold voltage source or fixed threshold current source be different from first threshold but phase
Close, if first threshold is 300mm, then this threshold value can be the corresponding voltage threshold of 300mm or current threshold, such as 3mV or
3mA。
Further, first threshold 300mm.
Further, range sensor 1 is specially laser range sensor.It can be laser sensor LR-TB2000.It should
0.06 to 5m a wide range of detection and the stability of unlimited color or surface state may be implemented in range sensor 1.It is no matter remote
As long as closely can be detected in detection range with any angle, it is convenient to install and debug.When robot clamps electric energy meter fortune
When above row to pallet, the numerical value of laser distance sensor 1 is monitored in real time.
Further, laser range sensor connects 24V power supply.
Referring to Fig. 3, Fig. 3 is the elementary diagram of laser range sensor, it is seen then that laser range sensor connects 24V
Power supply.
Further, referring to Fig. 4, Fig. 4 is laser range sensor measuring principle figure.Laser range sensor includes swashing
Light device, modulator, phase discriminator and apart from display module；
Laser connection modulator is for emitting laser to testee；
Phase discriminator is aligned testee, for measuring the distance between laser range sensor and testee；
Phase discriminator is connected apart from display module, is used for display distance.
It further, further include alarm；
Alarm connects range sensor 1, for being less than first threshold when the distance between air-actuated jaw 2 and underlying object
When issue alarm signal.
Further, range sensor 1 sends low level and does not trigger stopping movement then to shutdown switch, sends high level extremely
Shutdown switch then triggers robot stopping movement.
Further, pallet is specially removable pallet, for carrying electric energy meter.
Further, multiple epitopes for placing electric energy meter are provided on pallet.
A kind of electric energy meter calibration table robot against pressure provided by the utility model is described in detail above, for
Those of ordinary skill in the art, based on the idea of the embodiment of the present invention, in specific embodiments and applications
It will change, in conclusion the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. a kind of electric energy meter calibration table robot against pressure characterized by comprising robot body, range sensor；
The range sensor is fixed on the air-actuated jaw of the robot body；
When the robot body places electric energy meter, the range sensor is aligned in the position that electric energy meter is placed on pallet,
For measuring the distance between the air-actuated jaw and underlying object；
The range sensor is also connected with the shutdown switch of the robot body, for working as the air-actuated jaw and underlying object
The distance between be less than first threshold when send a signal to the robot body shutdown switch triggering robot stopping movement.
2. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that the range sensor
In include comparator；
The first input end of the comparator receives between the range sensor air-actuated jaw measured and underlying object
Distance, the second input terminal of the comparator is connected and fixed threshold voltage source or fixed threshold current source；
The output end of the comparator connects the shutdown switch of the robot body.
3. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that the first threshold is
300mm。
4. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that the range sensor
Specially laser range sensor.
5. a kind of electric energy meter calibration table robot against pressure according to claim 4, which is characterized in that the laser ranging passes
Sensor connects 24V power supply.
6. a kind of electric energy meter calibration table robot against pressure according to claim 4, which is characterized in that the laser ranging passes
Sensor includes laser, modulator, phase discriminator and apart from display module；
The laser connects the modulator for emitting laser to testee；
The phase discriminator is aligned the testee, for measuring between the laser range sensor and the testee
Distance；
It is described to connect the phase discriminator apart from display module, it is used for display distance.
7. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that further include alarm；
The alarm connects the range sensor, for when the distance between the air-actuated jaw and underlying object are less than the
Alarm signal is issued when one threshold value.
8. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that the range sensor
It sends low level and does not trigger stopping movement then to the shutdown switch, send high level to the shutdown switch and then trigger the machine
Device people's stopping movement.
9. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that the pallet is specially
Removable pallet, for carrying the electric energy meter.
10. a kind of electric energy meter calibration table robot against pressure according to claim 1, which is characterized in that set on the pallet
It is equipped with multiple epitopes for placing electric energy meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920085641.XU CN209387859U (en) | 2019-01-18 | 2019-01-18 | A kind of electric energy meter calibration table robot against pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920085641.XU CN209387859U (en) | 2019-01-18 | 2019-01-18 | A kind of electric energy meter calibration table robot against pressure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209387859U true CN209387859U (en) | 2019-09-13 |
Family
ID=67853396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920085641.XU Active CN209387859U (en) | 2019-01-18 | 2019-01-18 | A kind of electric energy meter calibration table robot against pressure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209387859U (en) |
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2019
- 2019-01-18 CN CN201920085641.XU patent/CN209387859U/en active Active
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