A single-phase and three-phase energy meter compatible gripper for robot loading and unloading.

Abstract

This invention discloses a single-phase and three-phase energy meter compatible gripper for robot loading and unloading, comprising an arm and a gripper component rotatably connected to the arm via a mounting plate structure. The gripper component includes a gripper mechanism, a linkage structure, and a connecting cylinder. The gripper mechanism includes a three-phase gripper structure and single-phase gripper structures, a three-phase gripper cylinder, a single-phase gripper cylinder, a three-phase cylinder fixing plate, and a single-phase cylinder fixing plate located on both sides of the three-phase gripper structure. Two sets of single-phase cylinder fixing plates are rotatably connected to both sides of the three-phase cylinder fixing plate. The linkage structure is a symmetrical structure consisting of multiple sets of linkages rotatably connected by pins. The two ends of the linkage structure are rotatably connected to two sets of single-phase cylinder fixing plates. The middle part of the linkage structure is vertically fixedly connected to the piston rod of the connecting cylinder, and the bottom surface of the connecting cylinder is fixed to the mounting plate structure. This invention solves the problem in the prior art that robot grippers cannot flexibly accommodate the loading and unloading operations of energy meters of different quantities and sizes.

Description

Technical Field

[0001] This invention relates to the field of robot gripper technology, and in particular to a single-phase and three-phase energy meter compatible gripper for robot loading and unloading. Background Technology

[0002] In large-scale sorting of multi-size electricity meters, robotic grippers are typically used. However, due to the diversity of meter sizes, a single robotic gripper often cannot flexibly handle different quantities and sizes of meters. To address this issue, different sized gripper fixtures are required. During sorting, the original fixture is manually disassembled and replaced with a different sized fixture to accommodate the varying meter sizes. However, this method not only increases the manufacturing cost of the fixtures but also adds to the difficulty of the sorting process, impacting efficiency. Therefore, improving the design of robotic grippers to flexibly adapt to different meter sizes, reduce the need for fixture replacement and adjustment, and increase work efficiency is a worthwhile area for exploration. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a single-phase and three-phase energy meter compatible gripper for robot loading and unloading, which has high grasping accuracy and working efficiency and is compatible with both single-phase and three-phase energy meters.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a single-phase and three-phase energy meter compatible gripper for robot loading and unloading, comprising an arm and a gripper component connected to the arm via a mounting plate structure. The gripper component includes a gripper mechanism, a linkage structure, and a connecting cylinder. The gripper mechanism includes a three-phase gripper structure and single-phase gripper structures located on both sides of the three-phase gripper structure, a three-phase gripper cylinder and a single-phase gripper cylinder for controlling the movement of the three-phase gripper structure and the single-phase gripper structure, and a three-phase cylinder fixing plate and a single-phase cylinder fixing plate for fixing the three-phase gripper cylinder and the single-phase gripper cylinder. The two sets of single-phase cylinder fixing plates are rotatably connected to both sides of the three-phase cylinder fixing plate. The linkage structure is a left-right symmetrical structure formed by multiple sets of linkages rotatably connected by pins. The two ends of the linkage structure are rotatably connected to the two sets of single-phase cylinder fixing plates respectively. A connecting cylinder is provided in the middle of the linkage structure and is vertically fixedly connected to the piston rod of the connecting cylinder. The bottom surface of the connecting cylinder is fixed on the mounting plate structure.

[0005] Both the three-phase gripper structure and the single-phase gripper structure include a single-tooth left gripper and a double-tooth right gripper, which are respectively fixed on the left and right fingers of the corresponding gripper cylinder.

[0006] Both the three-phase gripper cylinder and the single-phase gripper cylinder are parallel opening and closing type thin-film grippers, with the maximum stroke of the three-phase gripper cylinder being greater than that of the single-phase gripper cylinder.

[0007] The connecting rod structure includes a connecting rod push plate and a cylinder push plate, a corner connecting rod, and a long tie rod located on both sides of the connecting rod push plate and rotatably connected in sequence. The corner connecting rod is inverted V-shaped, with the protruding part in the middle rotatably connected to the corner bracket. The two ends of the corner bracket are respectively fixed in the grooves on the same side of the two sets of upright plates. The upper ends of the two sets of upright plates are fixed on the mounting plate structure, and the lower ends are respectively vertically fixed on the other two sides of the three-phase cylinder fixing plate.

[0008] The connecting rod push plate is located above the middle of the three-phase cylinder fixing plate, and the piston rod of the cylinder is vertically fixed on the upper surface of the connecting rod push plate.

[0009] The other end of the long tie rod is rotatably connected to the single-phase cylinder fixing plate. The positions on the single-phase cylinder fixing plate that are rotatably connected to the long tie rod and the three-phase cylinder fixing plate are on the same side, and the connection position with the three-phase cylinder fixing plate is located outside the connection position with the long tie rod.

[0010] The mounting plate structure includes an arm connecting plate, a robot mounting plate, and a connecting cylinder mounting plate. The arm connecting plate is a circular panel with its upper surface fixed to the arm and its lower surface fixed to the center of the upper surface of the robot mounting plate. The connecting cylinder mounting plate is fixed to the bottom of the robot mounting plate by bolts and nuts around its perimeter, with a gap between it and the robot mounting plate and a compression spring provided.

[0011] The upper end of the upright plate is vertically fixed to the lower surface of the connecting cylinder mounting plate.

[0012] The bottom surface of the connecting cylinder is vertically fixed at the center of the lower surface of the connecting cylinder mounting plate. The connecting cylinder is a thin single-rod internal thread double-acting cylinder.

[0013] The gripper component is also equipped with three sets of photoelectric detectors for detecting the electricity meter within the gripper structure. The photoelectric detectors are fixed to the sides of the two sets of single-phase cylinder fixing plates and the bottom of the upright plate respectively by photoelectric brackets, and the three sets of photoelectric detectors are located on the same side.

[0014] Beneficial Effects: The present invention has the following advantages: 1. The gripper described in this invention is compatible with the loading and unloading of single-phase or three-phase energy meters. It allows users to select the appropriate working mode according to their needs, making it simple to operate, convenient to use, and highly practical, thus reducing the number of grippers in the loading and unloading robot gripper; 2. The gripper described in this invention is equipped with multiple sets of photoelectric detectors to detect whether the energy meter is accurately gripped in the grippers, improving the accuracy and efficiency of the robot gripper in grasping energy meters; 3. The gripper described in this invention replaces manual sorting work and is suitable for grasping large batches of multi-size energy meters, improving the stability and efficiency of energy meter sorting. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention;

[0016] Figure 2 For fixing the three-phase gripper cylinder;

[0017] Figure 3 For single-phase claw cylinder mounting plate;

[0018] Figure 4 It is a single-tooth left gripper;

[0019] Figure 5 It is a double-toothed right gripper;

[0020] Figure 6 This is a schematic diagram of the linkage structure;

[0021] Figure 7 For connecting rod push plate;

[0022] Figure 8 For cylinder push plate;

[0023] Figure 9 For corner linkage;

[0024] Figure 10 It is a long tie rod;

[0025] Figure 11 For corner brackets;

[0026] Figure 12 For upright boards;

[0027] Figure 13 A schematic diagram showing how the connecting rod structure drives the single-phase cylinder fixing plate to fold in order to retract the connecting cylinder. Detailed Implementation

[0028] The technical solution of the present invention will be described in detail below with reference to the embodiments and accompanying drawings.

[0029] like Figure 1 As shown, the single-phase and three-phase energy meter compatible gripper for robot loading and unloading according to the present invention includes an arm 1 and a gripper component 3. The arm 1 is connected to the gripper component 3 through a mounting plate structure 2.

[0030] The gripper component 3 includes a gripper mechanism 31, a connecting rod structure 32, and a connecting cylinder 33. The gripper mechanism 31 includes a set of three-phase gripper structures 312 and two sets of single-phase gripper structures 311, a three-phase gripper cylinder 314 for controlling the three-phase gripper structures 312, a single-phase gripper cylinder 313 for controlling the movement of the single-phase gripper structures 311, and a three-phase cylinder fixing plate 316 for fixing the three-phase gripper cylinder 314. Figure 2 As shown, the single-phase cylinder fixing plate 315 used to fix the single-phase gripper cylinder 313 is as follows: Figure 3 As shown.

[0031] Two sets of single-phase gripper structures 311 are located on either side of the three-phase gripper structure 312, and two sets of single-phase cylinder fixing plates 315 are rotatably connected to both sides of the three-phase cylinder fixing plate 316. Both the three-phase gripper structure 312 and the single-phase gripper structure 311 include a single-tooth left gripper and a double-tooth right gripper, such as... Figure 4 and 5 As shown, they are fixed to the left and right fingers of the corresponding gripper cylinders, respectively.

[0032] Both the three-phase gripper cylinder 314 and the single-phase gripper cylinder 313 are parallel opening and closing type thin-walled grippers. The maximum stroke of the three-phase gripper cylinder 314 is greater than that of the single-phase gripper cylinder 313. Each of the three gripper cylinders is equipped with a solenoid valve, which can be remotely controlled via robot programming to move the gripper structure by the fingers on the gripper cylinders, adapting to the gripping of electricity meters of different sizes.

[0033] like Figure 6 As shown, the connecting rod structure 32 is a symmetrical structure consisting of multiple sets of connecting rods rotatably connected by pins, including a connecting rod push plate 321 and cylinder push plates 322, corner connecting rods 323, and long tie rods 324 located on both sides of the connecting rod push plate 321 and rotatably connected in sequence. Figure 7-10 As shown. The two ends of the connecting rod structure 32, that is, the other ends of the long tie rods 324 on both sides, are rotatably connected to two sets of single-phase cylinder fixing plates 315 respectively. The positions on the single-phase cylinder fixing plates 315 that are rotatably connected to the long tie rods 324 and the three-phase cylinder fixing plates 316 are on the same side, and the connection position with the three-phase cylinder fixing plates 316 is located outside the connection position with the long tie rods 324. The connecting rod push plate 321 is located above the three-phase cylinder fixing plates 316, and the center of the upper surface of the connecting rod push plate 321 is provided with a connecting cylinder 33, which is vertically fixed to the piston rod of the connecting cylinder 33. The bottom surface of the connecting cylinder 33 is fixed on the mounting plate structure 2 connected to the arm 1.

[0034] The corner connecting rod 323 is inverted V-shaped, with the protruding part in the middle rotatably connected to the corner bracket 325, such as... Figure 11 As shown, the two ends of the corner bracket 325 are respectively fixed in the grooves on the same side of the two sets of upright plates 326, as... Figure 12 As shown. The upper ends of the two sets of upright plates 326 are fixed to the mounting plate structure 2 that is rotatably connected to the arm 1, and the lower ends are respectively vertically fixed to the other two sides of the three-phase cylinder fixing plate 316.

[0035] The connecting cylinder 33 is a thin, single-rod, internally threaded, double-acting cylinder. It contains a solenoid valve and can be remotely controlled via robot programming to move the piston rod up and down, driving the connecting rod push plate 321. The connecting rod push plate 321, cylinder push plate 322, corner connecting rod 323, long tie rod 324, and single-phase cylinder fixing plate 315 are sequentially connected by pins. The single-phase cylinder fixing plate 315 is also connected to the three-phase cylinder fixing plate 316 by pins. The corner connecting rod 323 is inverted V-shaped, with its protruding central portion rotatably connected to the corner bracket 325, which is fixed to the upright plate 326. Therefore, during movement, the connecting rod push plate 321 moves the cylinder push plate 322, and the cylinder push plate 322 drives the corner connecting rod 323 to rotate at its connection point with the corner bracket 325.

[0036] When the piston rod of the connecting cylinder 33 retracts, causing the connecting rod push plate 321 to move upward, the cylinder push plate 322 drives the corner connecting rod 323 to rotate in the direction of movement of the connecting rod push plate 321. This causes the other end of the corner connecting rod 323 to drive the single-phase cylinder fixing plate 315 to flip upward along the connection point with the three-phase cylinder fixing plate 316 via the long pull rod 324. When the piston rod of the connecting cylinder 33 has fully retracted, the single-phase cylinder fixing plates 315 on both sides of the three-phase cylinder fixing plate 316 have a folding angle of greater than or equal to 90° relative to the three-phase cylinder fixing plate 316. The rotation of the single-phase cylinder fixing plate 315 also causes the single-phase gripper cylinder 313 and the single-phase gripper structure 311 to flip. Figure 13 The diagram shows the retraction of the connecting cylinder 33, which drives the single-phase cylinder fixing plate 315 to fold through the connecting rod structure 32.

[0037] When the piston rod of the connecting cylinder 33 moves forward, causing the connecting rod push plate 321 to move downward, the cylinder push plate 322 drives the corner connecting rod 323 to rotate in the direction of movement of the connecting rod push plate 321. This causes the other end of the corner connecting rod 323 to drive the single-phase cylinder fixing plate 315 to flip downward along the connection point with the three-phase cylinder fixing plate 316 via the long pull rod 324. When the piston rod of the connecting cylinder 33 moves forward to its maximum stroke, the single-phase cylinder fixing plates 315 on both sides of the three-phase cylinder fixing plate 316 are on the same horizontal plane as the three-phase cylinder fixing plate 316. At the same time, the single-phase gripper cylinder 313 and the single-phase gripper structure 311 are also on the same horizontal plane as the three-phase gripper cylinder 314 and the three-phase gripper structure 312, respectively.

[0038] Mounting plate structure 2 includes arm connecting plate 21, robot mounting plate 22, and connecting cylinder mounting plate 23. The arm connecting plate 21 is a circular panel with its upper surface fixed to the arm 1 and its lower surface fixed to the center of the upper surface of the robot mounting plate 22. The connecting cylinder mounting plate 23 is fixed to the bottom of the robot mounting plate 22 by bolts and nuts, and a gap is left between it and the robot mounting plate 22, and a compression spring is provided.

[0039] The upper end of the upright plate 326 is vertically fixed to the lower surface of the connecting cylinder mounting plate 23, and the bottom surface of the connecting cylinder 33 is vertically fixed to the center of the lower surface of the connecting cylinder mounting plate 23.

[0040] The gripper component 3 is also equipped with three sets of photoelectric detectors for detecting the energy meter in the three-phase gripper structure 312 or the single-phase gripper structure 311. The photoelectric detectors are fixed to the sides of the two sets of single-phase cylinder fixing plates 315 and the bottom of the upright plate 326 respectively by photoelectric brackets 4, and the three sets of photoelectric detectors are located on the same side.

[0041] Working Process: First, the three-phase or single-phase energy meters to be loaded and unloaded are transported to the loading / unloading position using a meter tray or meter turnover box. When a single-phase energy meter is being loaded or unloaded, the piston rod of the connecting cylinder 33 is remotely advanced to its maximum stroke via the robot programming program, so that the two sets of single-phase gripper structures 311 and three-phase gripper structures 312 are on the same horizontal plane. At the same time, the fingers of the two sets of single-phase gripper cylinders 313 and three-phase gripper cylinders 314 are remotely controlled to adjust the distance between the left and right grippers of the three-phase gripper structure 312 and the single-phase gripper structure 311 to a suitable position to accommodate the size of the single-phase energy meter. The two sets of single-phase gripper structures 311 and one set of three-phase gripper structures 312 simultaneously perform the gripping operation of the single-phase energy meter. During the gripping process, three sets of photoelectric detectors detect whether the single-phase energy meter is within the corresponding gripper structure.

[0042] When the three-phase energy meter is being loaded and unloaded, the piston rod of the connecting cylinder 33 is fully retracted via remote control through the robot programming program, causing the two sets of single-phase gripper structures 311 to fold upwards relative to the three-phase gripper structure 312. Simultaneously, the fingers of the remotely controlled three-phase gripper cylinder 314 adjust the distance between the left and right grippers of the three-phase gripper structure 312 to a suitable position to accommodate the size of the three-phase energy meter, allowing the three-phase gripper structure 312 to independently grip the single-phase energy meter. During the gripping process, a photoelectric detector in the middle checks whether the three-phase energy meter is within the three-phase gripper structure 312.

[0043] The gripper described in this invention is compatible with loading and unloading single-phase or three-phase energy meters. It allows users to select the appropriate working mode according to their needs, offering simple operation, ease of use, and high practicality, thus reducing the number of grippers required for loading and unloading robots. Simultaneously, it is equipped with multiple sets of photoelectric detectors to detect whether the energy meters are accurately gripped in the jaws, improving the accuracy and efficiency of the robot gripper in grasping energy meters. This gripper replaces manual sorting, making it suitable for handling large batches of energy meters of various sizes, thus improving the stability and efficiency of energy meter sorting.

Claims

1. A single-phase and three-phase electric energy meter compatible gripper for robot loading and unloading, comprising an arm (1), a gripper component (3) connected to the arm (1) through a mounting plate structure (2), characterized in that: The grabber component (3) comprises a jaw mechanism (31), a connecting rod structure (32), and a connecting cylinder (33). The jaw mechanism (31) comprises a three-phase jaw structure (312) and a single-phase jaw structure (311) on both sides of the three-phase jaw structure (312), a three-phase jaw cylinder (314) and a single-phase jaw cylinder (313) for controlling the movement of the three-phase jaw structure (312) and the single-phase jaw structure (311), respectively, and a three-phase cylinder fixing plate (316) and a single-phase cylinder fixing plate (315) for fixing the three-phase jaw cylinder (314) and the single-phase jaw cylinder (313), respectively, wherein the two groups of single-phase cylinder fixing plates (315) are rotatably connected on both sides of the three-phase cylinder fixing plate (316); the connecting rod structure (32) is a left-right symmetrical structure formed by a plurality of connecting rods rotatably connected by pin shafts, and the bottom surface of the connecting cylinder (33) is fixed on the mounting plate structure (2); The connecting rod structure (32) comprises a connecting rod push plate (321), a cylinder push plate (322), a corner connecting rod (323), and a long pull rod (324) rotatably connected in sequence on both sides of the connecting rod push plate (321). The corner connecting rod (323) is in the shape of an inverted V, with the middle protruding part rotatably connected to a corner support (325), and the two ends of the corner support (325) are fixed in the same side recesses of two groups of vertical plates (326). The upper ends of the two groups of vertical plates (326) are fixed on the mounting plate structure (2) connected to the arm (1), and the lower ends are vertically fixed on the other two sides of the three-phase cylinder fixing plate (316). The connecting rod push plate (321) is located above the middle part of the three-phase cylinder fixing plate (316), and the piston rod of the connecting cylinder (33) is vertically fixed on the upper surface of the connecting rod push plate (321). The other end of the long pull rod (324) is rotatably connected to the single-phase cylinder fixing plate (315), and the positions of the long pull rod (324) and the three-phase cylinder fixing plate (316) rotatably connected to the single-phase cylinder fixing plate (315) are on the same side, and the connection position of the three-phase cylinder fixing plate (316) is located on the outer side of the connection position of the long pull rod (324). When loading and unloading the three-phase energy meter, the piston rod of the connecting cylinder (33) is fully retracted through the remote control of the robot programming program, so that the two groups of single-phase jaw structures (311) are folded upwards relative to the three-phase jaw structure (312).

2. The single and three phase electric energy meter compatible gripper for robotic pick and place of claim 1, wherein: The three-phase jaw structure (312) and the single-phase jaw structure (311) each comprise a single-tooth left jaw and a double-tooth right jaw, which are fixed on the left and right fingers of the corresponding jaw cylinder, respectively.

3. The single and three phase electric energy meter compatible gripper for robotic pick and place of claim 1, wherein: The three-phase jaw cylinder (314) and the single-phase jaw cylinder (313) are both parallel opening and closing type thin air claws, and the maximum stroke of the three-phase jaw cylinder (314) is greater than that of the single-phase jaw cylinder (313).

4. The single and three phase electric energy meter compatible gripper for robotic pick and place of claim 1, wherein: The mounting plate structure (2) connected with the arm (1) comprises an arm connecting plate (21), a robot mounting plate (22) and a connecting cylinder mounting plate (23). The arm connecting plate (21) is a circular panel, the upper surface of which is fixed on the arm (1), and the lower surface of which is fixed on the upper surface of the robot mounting plate (22) at the center position. The connecting cylinder mounting plate (23) is fixed around the robot mounting plate (22) by bolts and nuts, and a gap is left between the connecting cylinder mounting plate (23) and the robot mounting plate (22) and a compression spring is arranged.

5. The single and three phase electric energy meter compatible gripper for robotic pick and place of claim 4, wherein: The upper end of the vertical plate (326) is vertically fixed on the lower surface of the connecting cylinder mounting plate (23).

6. The single and three phase meter compatible gripper for robotic pick and place of claim 4, wherein: The bottom surface of the connecting cylinder (33) is vertically fixed on the center position of the lower surface of the connecting cylinder mounting plate (23), and the connecting cylinder (33) is a thin single-rod internal thread double-acting cylinder.

7. The single and three phase electric energy meter compatible gripper for robotic pick and place of claim 1, wherein: Three groups of photoelectric detectors for detecting the electric energy meter in the clamp jaw structure are further arranged on the gripper part (3), and the photoelectric detectors are fixed on the side edges of the two groups of single-phase cylinder fixing plates (315) and the bottom of the vertical plate (326) through photoelectric supports (4), and the three groups of photoelectric detectors are located on the same side edge.

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