Double-end automatic adjustment battery grabbing tail end execution device

Abstract

The utility model discloses a double-end automatic adjusting battery grabbing tail end executing device which comprises an equipment table top, and further comprises a Scara mechanical arm, a double-end automatic adjusting battery grabbing device, an electric energy meter positioning device, a conveying line body and a battery material disc. The double-end automatic adjusting battery grabbing device is arranged on the Scara mechanical arm, and the Scara mechanical arm is arranged on the equipment table top. And the battery tray is placed on the equipment table board and on the outer side of the Scara manipulator. The double-head automatic adjusting battery grabbing device has the advantages that the whole double-head automatic adjusting battery grabbing device is provided with the visual camera, the visual camera is used for photographing batteries in a charging tray, and the angles and the center points of the batteries are provided. The two sets of grabbing devices are adjusted independently and grab the two batteries at the same time without mutual interference, the grabbing efficiency and accuracy are improved, and it is guaranteed that the batteries are installed smoothly.

Description

Technical Field

[0001] The utility model relates to the field of electric energy meter production equipment, in particular to a double-head automatic adjustment battery grabbing terminal execution device. Background Art

[0002] In the electric energy meter industry, as the performance requirements of electric energy meters are getting higher and higher, higher requirements are also put forward for the automation of the electric energy meter production process; currently, in the process of assembling electric energy meter batteries, it is usually manual to take batteries from the material tray, adjust the corresponding direction and install them on the electric energy meter. This process is cumbersome, labor-intensive, inefficient and labor-intensive. In addition, although a single clamp can also be used to achieve loading and unloading operations, the production efficiency is significantly reduced. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings and deficiencies of the prior art, provide a double-headed automatic adjustment battery grabbing end-effector, and improve installation efficiency.

[0004] The technical solution adopted by the utility model to achieve its technical purpose is: a double-headed automatic adjustment battery grabbing end-effector, including an equipment table, a Scara manipulator, a double-headed automatic adjustment battery grabbing device, an electric energy meter positioning device, a conveyor line, and a battery tray.

[0005] The electric energy meter positioning device is arranged on the conveyor line body, and the two are arranged together on the equipment table; the double-head automatic adjustment battery grasping device is arranged on the Scara manipulator, and the Scara manipulator is arranged on the equipment table, on one side of the conveyor line body; the battery material tray is placed on the equipment table, on the outside of the Scara manipulator.

[0006] Preferably, the double-headed automatic adjustment battery grasping device comprises a flange seat and a mounting base plate, wherein the upper end of the flange seat is connected to the Scara manipulator, and the lower end is connected to the mounting base plate, and two sets of actuators are arranged on the mounting base plate.

[0007] Preferably, the actuator includes a side rib plate, a vertical plate, a slide cylinder, a front cylinder mounting plate, a servo motor, a reducer, a lower mounting plate, a rotating base, a finger cylinder, a clamping claw, a lower rib plate, a visual bracket, and a visual camera;

[0008] The side rib plate is arranged on the mounting base plate, and the vertical plate is arranged below the mounting base plate; the front cylinder mounting plate is arranged outside the slide cylinder, and the two are arranged together on the vertical plate; the lower mounting plate and the lower rib plate are arranged together at the lower end of the front cylinder mounting plate, and the servo motor and the reducer are arranged together on the lower mounting plate;

[0009] The finger-gripping cylinder is arranged on the rotating base, and the rotating base is connected to the output shaft of the reducer; the clamping claw is arranged on the finger-gripping cylinder, and the visual camera is arranged on the visual bracket, and the two are arranged together on the side wall of the mounting base plate.

[0010] Preferably, the vertical plate and the mounting base plate are perpendicular to each other.

[0011] Preferably, the lower mounting plate and the lower rib plate are perpendicular to the front cylinder mounting plate.

[0012] Preferably, the servo motor and the reducer are parallel to the front cylinder mounting plate.

[0013] The beneficial effects of the utility model are as follows: the double-headed automatic battery grabbing device is equipped with a visual camera as a whole, and the visual camera is used to take pictures of the batteries in the tray to provide the battery angle and center point. The double heads are equipped with a servo drive device separately to adjust the battery grabbing angle and battery installation angle separately. The servo motor automatically rotates and adjusts to the corresponding angle for grabbing, reducing the difficulty of manipulator debugging and installation. The two groups of grabbing devices are adjusted separately to grab two batteries at the same time without interfering with each other, thereby improving the grabbing efficiency and accuracy and ensuring the smooth installation of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the top view structure of the utility model;

[0016] Figure 3 This is a schematic diagram of the three-dimensional structure of the double-head automatic adjustment battery grabbing device of the utility model;

[0017] Figure 4 The utility model is a schematic diagram of the top view of the double-head automatic adjustment battery grabbing device.

[0018] The following are marked in the figure: 1. Scara manipulator; 2. Double-head automatic adjustment battery grabbing device;

[0019] 3. Electric energy meter positioning device; 4. Conveyor line body; 5. Battery tray; 6. Equipment table; 21. Flange seat; 22. Mounting base plate; 23. Side rib plate; 24. Vertical plate; 25. Sliding cylinder; 26. Front cylinder mounting plate;

[0020] 27. Servo motor; 28. Reducer; 29. ​​Lower mounting plate; 210. Rotating base; 211. Clamping finger cylinder; 212. Clamping claw; 213. Lower rib plate; 214. Vision bracket; 215. Vision camera. DETAILED DESCRIPTION

[0021] The following are embodiments and drawings to further illustrate the present invention. Example

[0022] like Figure 1-4 As shown: a double-head automatic adjustment battery grabbing end-effector, including an equipment table 6, a Scara manipulator 1, a double-head automatic adjustment battery grabbing device 2, an electric energy meter positioning device 3, a conveyor line 4, and a battery tray 5.

[0023] The electric energy meter positioning device 3 is arranged on the conveyor line body 4, and the two are jointly arranged on the equipment table 6; the double-head automatic adjustment battery grasping device 2 is arranged on the Scara manipulator 1, and the Scara manipulator 1 is arranged on the equipment table 6, on one side of the conveyor line body 4; the battery material tray 5 is placed on the equipment table 6, on the outside of the Scara manipulator 1.

[0024] The double-headed automatic adjustment battery grasping device 2 includes a flange seat 21 and a mounting base plate 22. The upper end of the flange seat 21 is connected to the Scara manipulator 1, and the lower end is connected to the mounting base plate 22. Two sets of actuators are arranged on the mounting base plate.

[0025] The actuator includes a side rib plate 23, a vertical plate 24, a slide cylinder 25, a front cylinder mounting plate 26, a servo motor 27, a reducer 28, a lower mounting plate 29, a rotating base 210, a clamping finger cylinder 211, a clamping claw 212, a lower rib plate 213, a visual bracket 214, and a visual camera 215;

[0026] The side rib plate 23 is arranged on the mounting base plate 22, and the vertical plate 24 is arranged below the mounting base plate 22; the front cylinder mounting plate 26 is arranged outside the slide cylinder 25, and the two are arranged together on the vertical plate 24; the lower mounting plate 29 and the lower rib plate 213 are arranged together at the lower end of the front cylinder mounting plate 26, and the servo motor 27 and the reducer 28 are arranged together on the lower mounting plate 29;

[0027] The finger-gripping cylinder 211 is arranged on the rotating base 210 , and the rotating base 210 is connected to the output shaft of the reducer 28 ; the clamping jaw 212 is arranged on the finger-gripping cylinder 211 , and the visual camera 215 is arranged on the visual bracket 214 , and both are arranged together on the side wall of the mounting base plate 22 .

[0028] The vertical plate 24 and the mounting base plate 22 are perpendicular to each other.

[0029] The lower mounting plate 29 and the lower rib plate 213 are perpendicular to the front cylinder mounting plate 26 .

[0030] The servo motor 27 and the reducer 28 are parallel to the front cylinder mounting plate 26 .

[0031] The working principle and working process of the utility model are as follows:

[0032] The electric energy meter flows from the conveyor line 4 to the electric energy meter positioning device 3, and the electric energy meter positioning device 3 is positioned; the Scara robot 1 drives the double-head automatic adjustment battery grasping device 2 to the top of the battery tray 5, and the visual camera 215 takes pictures for positioning, and transmits the data to the Scara robot 1 and the servo motor 27; the Scara robot 1 drives the double-head automatic adjustment battery grasping device 2 to adjust the finger cylinder 211 to the center position of the battery for shooting, and this position is determined by the battery in the battery tray 5; the servo motor 27 drives the finger cylinder 211 respectively to adjust the clamping claw 212 to the corresponding angle of the battery, and this angle is determined by the battery in the battery tray 5; the slide cylinder 25 drives the finger cylinder 211 to descend and clamp the battery respectively; after the battery is raised, the servo motor 27 drives the finger cylinder 211 again to adjust the clamping claw 212 to the corresponding angle, and this angle is determined by the electric energy meter model, and the Scara robot 1 drives the double-head automatic adjustment battery grasping device 2 to move to the electric energy meter positioning device 3, and installs it at the same time.

Claims

1. A double-headed automatic adjustment battery grabbing end effector, comprising an equipment table, characterized in that: It also includes Scara manipulator, double-head automatic adjustment battery grabbing device, electric energy meter positioning device, conveyor line, battery tray, The electric energy meter positioning device is arranged on the conveyor line body, and the two are arranged together on the equipment table; the double-head automatic adjustment battery grasping device is arranged on the Scara manipulator, and the Scara manipulator is arranged on the equipment table, on one side of the conveyor line body; the battery material tray is placed on the equipment table, on the outside of the Scara manipulator.

2. The double-headed automatic adjustment battery grabbing end effector according to claim 1 is characterized in that: The double-headed automatic adjustment battery grasping device comprises a flange seat and a mounting base plate. The upper end of the flange seat is connected to the Scara manipulator, and the lower end is connected to the mounting base plate. Two sets of actuators are arranged on the mounting base plate.

3. The double-headed automatic adjustment battery grabbing end effector according to claim 2 is characterized in that: The actuator includes a side rib plate, a vertical plate, a slide cylinder, a front cylinder mounting plate, a servo motor, a reducer, a lower mounting plate, a rotating base, a clamping cylinder, a clamping claw, a lower rib plate, a visual bracket, and a visual camera; The side rib plate is arranged on the mounting base plate, and the vertical plate is arranged below the mounting base plate; the front cylinder mounting plate is arranged outside the slide cylinder, and the two are arranged together on the vertical plate; the lower mounting plate and the lower rib plate are arranged together at the lower end of the front cylinder mounting plate, and the servo motor and the reducer are arranged together on the lower mounting plate; The finger-gripping cylinder is arranged on the rotating base, and the rotating base is connected to the output shaft of the reducer; the clamping claw is arranged on the finger-gripping cylinder, and the visual camera is arranged on the visual bracket, and the two are arranged together on the side wall of the mounting base plate.

4. The double-headed automatic adjustment battery grabbing end effector according to claim 3 is characterized in that: The vertical plate and the mounting base plate are perpendicular to each other.

5. The double-headed automatic adjustment battery grabbing end effector according to claim 3 is characterized in that: The lower mounting plate and the lower rib plate are perpendicular to the front cylinder mounting plate.

6. The double-headed automatic adjustment battery grabbing end effector according to claim 3 is characterized in that: The servo motor, the reducer and the front cylinder mounting plate are parallel.

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