A robotic gripper device for collecting terminal tables

Abstract

This utility model discloses a robotic gripper device for collecting data from terminal meters, including a sorting table with a conveying mechanism on the sorting table. A gripping mechanism is positioned above the conveying mechanism. The gripping mechanism consists of a mounting plate, two sets of first pneumatic fingers, and second pneumatic fingers. The two sets of first pneumatic fingers are fixedly mounted at both ends of the lower surface of the mounting plate, and the second pneumatic fingers are fixedly mounted below the mounting plate, positioned between the two sets of first pneumatic fingers. Two sets of first connecting plates are fixedly connected to the working surfaces of each of the first pneumatic fingers, and two sets of second connecting plates are fixedly connected to the working surfaces of the second pneumatic fingers. In this utility model, by gripping different types of meter bodies separately, the overall efficiency of meter body loading and unloading on the production line is improved, the labor intensity of workers is reduced, and the production cost of the meter bodies is lowered.

Description

Technical Field

[0001] This utility model relates to the field of terminal energy meter disassembly and verification technology, specifically to a robotic gripper device for collecting data from terminal meters. Background Technology

[0002] For meter dismantling and return lines that require operation of various types of electricity meters, collaborative robots for loading and unloading are a very important part of the production line. More and more companies are now using automated equipment to replace manual loading and unloading, which can effectively improve efficiency and reduce the probability of errors.

[0003] Currently, most companies rely on manual handling for loading and unloading terminal energy meters, resulting in low overall efficiency and high costs. Therefore, it is essential to design a new, reliable, convenient, and adaptive compatible fixture mechanism to accommodate different types of energy meters and meet the loading and unloading needs of various manufacturers' different meter models. Utility Model Content

[0004] To address the problems of low overall efficiency and high cost in the existing manual loading and unloading of terminal energy meters, this utility model provides a robotic gripper device for collecting data from terminal meters.

[0005] The technical solution adopted by this utility model is as follows: A sorting table is included, on which a conveying mechanism is provided. Above the conveying mechanism is a gripping mechanism, which consists of a mounting plate, two sets of first pneumatic fingers, and second pneumatic fingers. The two sets of first pneumatic fingers are fixedly installed at both ends of the lower surface of the mounting plate, and the second pneumatic fingers are fixedly installed below the mounting plate, located between the two sets of first pneumatic fingers. Two sets of first connecting plates are fixedly connected to the working surfaces of the first pneumatic fingers, and two sets of second connecting plates are fixedly connected to the working surfaces of the second pneumatic fingers. A single-phase double-finger gripper is fixedly installed at one end of one set of first connecting plates and one set of second connecting plates, and a single-phase single-finger gripper is fixedly installed at one end of the other set of first connecting plates and the other set of second connecting plates. The single-phase single-finger gripper is compatible with the single-phase double-finger gripper. A three-phase double-finger gripper is fixedly connected to the end of one set of first connecting plates away from the single-phase double-finger gripper, and a three-phase single-finger gripper is fixedly connected to the end of the other set of first connecting plates away from the single-phase single-finger gripper. A sorting mechanism is also provided on the sorting table.

[0006] Furthermore, each of the two sets of first and second pneumatic fingers is fixedly equipped with two sets of external hexagonal elbow joints at one end.

[0007] By adopting the above technical solution, the external hexagonal elbow is connected to an external compressed gas generating device to provide driving force for the first pneumatic finger and the second pneumatic finger.

[0008] Furthermore, a controller is fixedly mounted on the mounting plate, and the controller is electrically connected to the first pneumatic finger and the second pneumatic finger.

[0009] By adopting the above technical solution, the operation of the first pneumatic finger or the second pneumatic finger can be controlled.

[0010] Furthermore, the sorting mechanism includes a mounting frame fixedly installed on the sorting table and an electric slide rail opened on the mounting frame. An electric slider is slidably installed in the electric slide rail, and a connecting flange is fixedly connected to the bottom of the electric slider. The connecting flange is fixedly connected to the mounting plate.

[0011] By adopting the above technical solution, the meter body is moved after being grabbed.

[0012] Furthermore, the conveying mechanism includes a main conveyor belt, a single-phase meter conveyor belt, and a three-phase meter conveyor belt on the sorting table. The meter body is placed on the main conveyor belt. The single-phase meter conveyor belt is located near the single-phase two-finger gripper, and the three-phase meter conveyor belt is located near the three-phase two-finger gripper.

[0013] By adopting the above technical solutions, the single-phase meter conveyor belt and the three-phase meter conveyor belt transport the sorted meter bodies to the subsequent processing station.

[0014] Furthermore, a barcode is affixed to the meter body, a support rod is fixedly connected to the mounting plate, a barcode scanner is fixedly mounted on the support rod, and the barcode scanner is electrically connected to the controller.

[0015] By adopting the above technical solution, automatic sorting of single-phase and three-phase electricity meters can be achieved.

[0016] The beneficial effects of this utility model are: by using the first pneumatic finger and the second pneumatic finger in conjunction with the single-phase single-finger pneumatic gripper, the single-phase double-finger pneumatic gripper, the three-phase single-finger pneumatic gripper, and the three-phase double-finger pneumatic gripper, the meter body can be gripped, and the meter body on the production line can be gripped and loaded and unloaded in a simple and quick manner, which improves the overall efficiency of the production line, reduces the labor intensity of workers, and reduces the production cost of the meter body.

[0017] By using a controller in conjunction with a barcode scanner and the barcode on the meter itself, the type of the meter is identified, enabling adaptive picking of different types of meters and reducing the error rate in classifying different types of meters. The main conveyor belt, along with the mounting frame, electric slide rail, electric slider, single-phase meter conveyor belt, and three-phase meter conveyor belt, sorts the picked-up different types of meters and transports them to the workstations of subsequent processes, achieving automated sorting of meters and improving the practicality of the device. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the gripping mechanism in this utility model;

[0020] Figure 3 This is a schematic diagram of the bottom structure of the gripping mechanism in this utility model;

[0021] Figure 4 This is a schematic diagram of the sorting mechanism in this utility model;

[0022] Figure 5 This is a flowchart of the control process in this utility model.

[0023] The diagram is labeled as follows: 1. Sorting table; 2. Conveying mechanism; 201. Main conveyor belt; 202. Single-phase meter conveyor belt; 203. Three-phase meter conveyor belt; 3. Sorting mechanism; 301. Mounting frame; 302. Electric slide rail; 303. Electric slider; 4. Gripping mechanism; 401. Connecting flange; 402. Mounting plate; 403. First pneumatic finger; 404. Second pneumatic finger; 405. External hexagonal elbow; 406. First connecting plate; 407. Second connecting plate; 408. Single-phase double-finger gripper; 409. Single-phase single-finger gripper; 410. Three-phase double-finger gripper; 411. Three-phase single-finger gripper; 412. Controller; 413. Support rod; 414. Barcode scanner; 5. Meter body; 6. Barcode. Detailed Implementation

[0024] In the description of this utility model, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] The following is in conjunction with the appendix Figure 1-5 The present invention will be further described below.

[0027] To address the problems existing in the background art, this application proposes the following technical solution: A sorting table 1 is included, a conveying mechanism 2 is installed on the sorting table 1, and a gripping mechanism 4 is installed above the conveying mechanism 2. The gripping mechanism 4 consists of a mounting plate 402, two sets of first pneumatic fingers 403, and a second pneumatic finger 404. The two sets of first pneumatic fingers 403 are fixedly installed at both ends of the lower surface of the mounting plate 402, and the second pneumatic fingers 404 are fixedly installed below the mounting plate 402, located between the two sets of first pneumatic fingers 403. Two sets of first connecting plates 406 are fixedly connected to the working surfaces of the first pneumatic fingers 403, and the second pneumatic fingers 404... Two sets of second connecting plates 407 are fixedly connected to the working surface. A single-phase double-finger gripper 408 is fixedly installed at one end of a set of first connecting plates 406 and a set of second connecting plates 407. A single-phase single-finger gripper 409 is fixedly installed at one end of another set of first connecting plates 406 and another set of second connecting plates 407. The single-phase single-finger gripper 409 is compatible with the single-phase double-finger gripper 408. A three-phase double-finger gripper 410 is fixedly connected at one end of a set of first connecting plates 406 away from the single-phase double-finger gripper 408. A three-phase single-finger gripper 411 is fixedly connected at one end of another set of first connecting plates 406 away from the single-phase single-finger gripper 409. A sorting mechanism 3 is also provided on the sorting table 1.

[0028] The meter body 5 is placed on the conveying mechanism 2, which then transports it to the area below the gripping mechanism 4. The first pneumatic finger 403 and the second pneumatic finger 404 utilize compressed air as power to clamp or grip workpieces. When the first pneumatic finger 403 operates, it moves the two sets of first connecting plates 406 below it. The first connecting plates 406 then move the single-phase double-finger gripper 408, the single-phase single-finger gripper 409, the three-phase double-finger gripper 410, and the three-phase single-finger gripper 411, allowing them to grip the single-phase and three-phase meter bodies 5 respectively. When the second pneumatic finger 404 operates, it moves its lower... The two sets of second connecting plates 407 move, and the second connecting plates 407 drive the corresponding single-phase double-finger pneumatic grippers 408 and single-phase single-finger pneumatic grippers 409 to move, which can grasp the single-phase meter body 5. After the gripping mechanism 4 grasps the meter body 5, the sorting mechanism 3 drives the gripping mechanism 4 to move and transfer the sorted meter body 5 to other positions, which facilitates the loading and unloading of the meter body 5 on the production line, improves the overall efficiency of the production line, reduces the labor intensity of workers, and reduces the production cost of the meter body 5. The first pneumatic finger 403 and the second pneumatic finger 404 are SDEF-1522 model pneumatic fingers.

[0029] To further clarify, each of the two sets of first pneumatic fingers 403 and second pneumatic fingers 404 has two sets of external hexagonal elbows 405 fixedly installed at one end.

[0030] The two sets of external hexagonal elbows 405 are the air inlet and air outlet, respectively. The air supply end of the external compressed gas generator is connected to the air inlet end of the external hexagonal elbow 405 through a telescopic hose (the compressed gas generator and telescopic hose are not shown in the attached drawings). The exhaust pipe is connected to the air outlet end of the external hexagonal elbow 405, providing driving force for the first pneumatic finger 403 and the second pneumatic finger 404. The telescopic hose facilitates the gripping mechanism 4 to move the gripped meter body 5 to other workstations.

[0031] Furthermore, a controller 412 is fixedly mounted on the mounting plate 402, and the controller 412 is electrically connected to the first pneumatic finger 403 and the second pneumatic finger 404.

[0032] The controller 412 is a programmable PLC controller. The controller 412 can control the start and stop of the first pneumatic finger 403 and the second pneumatic finger 404, which facilitates the automated grasping operation of the meter body 5.

[0033] To further explain, the sorting mechanism 3 includes a mounting frame 301 fixedly installed on the sorting table 1 and an electric slide rail 302 opened on the mounting frame 301. An electric slider 303 is slidably installed in the electric slide rail 302. A connecting flange 401 is fixedly connected to the bottom of the electric slider 303. The connecting flange 401 is fixedly connected to the mounting plate 402.

[0034] The electric slider 303 can move within the electric slide rail 302. The electric slider 303 drives the mounting plate 402 to move via the connecting flange 401, thereby driving the gripping mechanism 4 to move and transfer the gripped meter body 5 to other process stations. At the same time, the electric slider 303 is electrically connected to the controller 412, which controls the movement of the electric slider 303. This facilitates the automation of the meter body 5 production line and improves production efficiency. Both the electric slide rail 303 and the electric slider 302 are existing mature technologies and can be purchased from the market according to usage requirements.

[0035] To further explain, the conveying mechanism 2 includes a main conveyor belt 201 set on the sorting table 1, a single-phase meter conveyor belt 202 set on the sorting table 1, and a three-phase meter conveyor belt 203 set on the sorting table 1. The meter body 5 is placed on the main conveyor belt 201. The single-phase meter conveyor belt 202 is set on the side close to the single-phase double-finger pneumatic gripper 408, and the three-phase meter conveyor belt 203 is set on the side close to the three-phase double-finger pneumatic gripper 410.

[0036] The main conveyor belt 201, the single-phase meter conveyor belt 202, and the three-phase meter conveyor belt 203 are all mounted on the sorting table 1 via two sets of rotating rollers. The main conveyor belt 201 is used to transport different models of meter bodies 5. After the gripping mechanism 4 grips a single-phase meter, the electric slider 303 moves the gripping mechanism 4 above the single-phase meter conveyor belt 202 for unloading. After the gripping mechanism 4 grips a three-phase meter, the electric slider 303 moves the gripping mechanism 4 onto the three-phase meter conveyor belt 203 for unloading. The single-phase meter conveyor belt 202 and the three-phase meter conveyor belt 203 transport the sorted meter bodies 5 to the workstations of subsequent processes, realizing automatic sorting of different types of meter bodies 5 and improving the production efficiency of meter bodies 5.

[0037] To further explain, a barcode 6 is affixed to the meter body 5, a support rod 413 is fixedly connected to the mounting plate 402, a barcode scanner 414 is fixedly installed on the support rod 413, and the barcode scanner 414 is electrically connected to the controller 412.

[0038] The operator affixes barcodes 6, representing single-phase and three-phase electricity meters, to the corresponding meter body 5. When the conveying mechanism 2 transports the meter body 5 to the barcode scanner 414, the scanner 414 scans the barcodes 6 on the meter body 5 to determine whether it is a single-phase or three-phase meter. If the meter body 5 is determined to be a single-phase meter, the controller 412 controls the electric slider 303 to move, moving the gripping mechanism 4 to the appropriate position so that the positions of the single-phase double-finger pneumatic gripper 408 and the single-phase single-finger pneumatic gripper 409 correspond to the meter body 5. The controller 412 then activates the corresponding first pneumatic finger 403 or second pneumatic finger 409. 4. During operation, the single-phase double-finger pneumatic gripper 408 and the single-phase single-finger pneumatic gripper 409 move to grasp the meter body 5. When the meter body 5 is determined to be a three-phase meter, the controller 412 controls the electric slider 303 to move and move the gripping mechanism 4 to a suitable position, so that the positions of the three-phase double-finger pneumatic gripper 410 and the three-phase single-finger pneumatic gripper 411 correspond to the meter body 5. The controller 412 starts the corresponding first pneumatic finger 403 to work, and the three-phase double-finger pneumatic gripper 410 and the three-phase single-finger pneumatic gripper 411 move to grasp the meter body 5, thereby realizing adaptive grasping of different types of meter bodies 5 and reducing the error rate of classifying different types of meter bodies 5.

[0039] The specific operation is as follows: The operator affixes the barcode 6 representing single-phase and three-phase meters to the corresponding meter body 5. Then, the meter bodies 5 of different types are placed on the main conveyor belt 201. The main conveyor belt 201 transports the meter bodies 5 of different types to below the gripping mechanism 4. Before the meter body 5 moves below the gripping mechanism 4, the barcode scanner 414 scans the barcode 6 on the meter body 5 to determine whether the meter body 5 is a single-phase or three-phase meter. After determining the type of the meter body 5, the sorting mechanism 3... The first pneumatic finger 403 or the second pneumatic finger 404 operates at the position corresponding to the single-phase double-finger pneumatic gripper 408, single-phase single-finger pneumatic gripper 409 or single-phase double-finger pneumatic gripper 408, single-phase single-finger pneumatic gripper 409 corresponding to the phase type of the meter body 5, gripping the meter body 5. After gripping a single-phase meter, the sorting mechanism 3 moves the single-phase meter to the single-phase meter conveyor belt 202 and unloads it. After gripping a three-phase meter, the sorting mechanism 3 moves the three-phase meter to the three-phase meter conveyor belt 203 and unloads it, thus realizing the automatic sorting of the meter body 5.

[0040] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0041] Although embodiments of the present invention have been shown and described, the scope of the present invention will be defined by the appended claims and their equivalents for those skilled in the art.

Claims

1. A robot gripper device for collecting a terminal table, characterized by, The system includes a sorting table (1), on which a conveying mechanism (2) is provided. Above the conveying mechanism (2) is a gripping mechanism (4). The gripping mechanism (4) consists of a mounting plate (402), two sets of first pneumatic fingers (403), and a second pneumatic finger (404). The two sets of first pneumatic fingers (403) are fixedly installed at both ends of the lower surface of the mounting plate (402), and the second pneumatic fingers (404) are fixedly installed below the mounting plate (402) and located between the two sets of first pneumatic fingers (403). Two sets of first connecting plates (406) are fixedly connected to the working surfaces of the first pneumatic fingers (403), and two sets of connecting plates (406) are fixedly connected to the working surfaces of the second pneumatic fingers (404). The second connecting plate (407) has a single-phase double-finger gripper (408) fixedly installed at one end of a set of first connecting plates (406) and a set of second connecting plates (407), and a single-phase single-finger gripper (409) fixedly installed at one end of another set of first connecting plates (406) and another set of second connecting plates (407). The single-phase single-finger gripper (409) is adapted to the single-phase double-finger gripper (408). A three-phase double-finger gripper (410) is fixedly connected at one end of a set of first connecting plates (406) away from the single-phase double-finger gripper (408), and a three-phase single-finger gripper (411) is fixedly connected at one end of another set of first connecting plates (406) away from the single-phase single-finger gripper (409). A sorting mechanism (3) is also provided on the sorting table (1).

2. The robotic gripper apparatus for collecting terminal tables of claim 1, wherein, Two sets of external hexagonal elbow joints (405) are fixedly installed at one end of each of the two sets of first pneumatic fingers (403) and second pneumatic fingers (404).

3. The robotic gripper apparatus for collecting terminal tables of claim 2, wherein, A controller (412) is fixedly installed on the mounting plate (402), and the controller (412) is electrically connected to the first pneumatic finger (403) and the second pneumatic finger (404).

4. The robotic gripper apparatus for collecting terminal tables of claim 3, wherein, The sorting mechanism (3) includes a mounting frame (301) fixedly installed on the sorting table (1) and an electric slide rail (302) opened on the mounting frame (301). An electric slider (303) is slidably installed in the electric slide rail (302). A connecting flange (401) is fixedly connected to the bottom of the electric slider (303). The connecting flange (401) is fixedly connected to the mounting plate (402).

5. The robotic gripper apparatus for collecting terminal tables of claim 4, wherein, The conveying mechanism (2) includes a main conveyor belt (201) set on the sorting table (1), a single-phase meter conveyor belt (202) set on the sorting table (1), and a three-phase meter conveyor belt (203) set on the sorting table (1). The meter body (5) is placed on the main conveyor belt (201). The single-phase meter conveyor belt (202) is set on the side close to the single-phase double-finger pneumatic gripper (408), and the three-phase meter conveyor belt (203) is set on the side close to the three-phase double-finger pneumatic gripper (410).

6. The robotic gripper apparatus for collecting terminal tables of claim 5, wherein, A barcode (6) is affixed to the meter body (5), a support rod (413) is fixedly connected to the mounting plate (402), a barcode scanner (414) is fixedly installed on the support rod (413), and the barcode scanner (414) is electrically connected to the controller (412).

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