CN109772729B - Fire extinguisher finished product reinspection system - Google Patents

Fire extinguisher finished product reinspection system Download PDF

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Publication number
CN109772729B
CN109772729B CN201910089812.0A CN201910089812A CN109772729B CN 109772729 B CN109772729 B CN 109772729B CN 201910089812 A CN201910089812 A CN 201910089812A CN 109772729 B CN109772729 B CN 109772729B
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China
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pallet
unit
stacking
tray
fire extinguisher
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CN109772729A (en
Inventor
张开生
潘结胜
任孝东
王展
杨夫刚
彭超
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Saimo Intelligent Technology Group Co ltd
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Saimo Electric Co Ltd
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Abstract

The invention discloses a fire extinguisher finished product reinspection system which comprises a full-load pallet feeding unit, a pallet transshipment unit, a unstacking unit, an unloaded pallet stacking unit, an aging sealing detection unit and a centralized electric control unit. According to the invention, after the stack tray which is positioned on the full-load stack tray supply unit and is orderly stacked with a plurality of fire extinguishers to be detected is guided into the unstacking unit through the stack tray transshipment unit, the fire extinguishers to be detected are conveyed to the aging sealing detection unit one by one for detection, the pressure gauge of the fire extinguishers to be detected is subjected to mode identification through the mode identification sensor to judge whether the fire extinguishers to be detected leak gas and record, finally, unqualified fire extinguishers are rejected and temporarily stored, qualified fire extinguishers are sequentially output, and the unloaded stack tray which is unstacked enters the unloaded stack tray stacking unit for sequential columnar stacking and integral output, so that the batch automatic detection of the fire extinguisher product in aging sealing detection can be realized, and the method is particularly suitable for batch aging sealing detection of the fire extinguisher.

Description

Fire extinguisher finished product reinspection system
Technical Field
The invention relates to a finished product inspection system, in particular to a fire extinguisher finished product reinspection system which is suitable for reinspecting fire extinguisher finished products to judge whether gas leaks or not, and belongs to the technical field of fire extinguisher production.
Background
Fire extinguishers are one of the common fire protection facilities, and are generally stored in public places or places where fires may occur. A fire extinguisher is generally meant to comprise a fire extinguishing medium arranged for different fires as well as a pressure tank filled with the fire extinguishing medium and a booster pressure gas. Fire extinguishers can be classified into portable type and cart type according to their moving manner, and the portable type fire extinguishers are widely used because they are convenient and fast to use and do not occupy too much space.
Because the fire extinguisher is pressure vessel, therefore in the fire extinguisher production process, according to "portable fire extinguisher: examination of the rules of the regulations (GB/T4351.3-2005), in order to ensure the product quality of the fire extinguisher and prevent the fire extinguisher from leaking due to unreal sealing, first sealing detection and aging sealing detection are required after filling and gas charging, the first sealing detection is usually to immerse the filled fire extinguisher in water for water detection, and whether the fire extinguisher is qualified or not is judged by observing bubbles; the aging sealing detection is to store fire extinguisher products qualified in the first sealing detection for a certain time (generally 7 days), and then observe whether the numerical value of a pressure gauge on the fire extinguisher is still in an effective range, qualified products can be labeled, boxed and delivered, and unqualified products need to be reworked and repaired.
The process is examined to the water that current fire extinguisher sealed the detection for the first time has basically realized automaticly, but fire extinguisher ageing seal detection process still adopts manual operation's mode usually, and whether manometer numerical value on the manual observation fire extinguisher still is in effective range promptly, and this kind of traditional detection mode not only inspection personnel's intensity of labour is big, detection efficiency is low, inspection personnel set up more, has the condition that artificial factors such as fatigue, mood caused erroneous judgement moreover.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a fire extinguisher finished product rechecking system which can realize batch automatic detection of fire extinguisher product aging sealing detection on the premise of greatly reducing the labor intensity of detection personnel, can avoid the condition of wrong judgment caused by human factors, and is particularly suitable for batch aging sealing detection of fire extinguisher products.
In order to realize the aim, the fire extinguisher finished product reinspection system comprises a full-load pallet feeding unit, a pallet transshipment unit, an unstacking unit, an unloaded pallet stacking unit, an aging sealing detection unit and a centralized electric control unit;
the full-load tray supply unit is used for conveying and supplying trays on which a plurality of fire extinguishers to be detected are orderly stacked in an array manner, and comprises a tray conveying device and a tray conveying electric control part, wherein the tray conveying device comprises a tray conveying driving mechanism, the tray conveying electric control part comprises a tray conveying controller, a tray conveying control loop and a counting control loop, and the tray conveying controller is electrically connected with the tray conveying driving mechanism;
the device comprises a stack tray transfer unit, a stack tray transfer driving mechanism, a stack tray transfer control circuit, a stack tray transfer unit and a fire extinguisher detection unit, wherein the stack tray transfer unit is arranged in a butt joint mode with the full-load stack tray supply unit and corresponds to a stack tray conveying device of the full-load stack tray supply unit, the stack tray transfer unit is used for carrying, transferring and conveying a stack tray with a plurality of fire extinguishers to be detected in an orderly array mode, the stack tray transfer unit comprises a transfer conveying device and a stack tray transfer electric control part, the transfer conveying device comprises a transfer conveying driving mechanism, the stack tray transfer electric control part comprises a stack tray transfer controller and a stack tray transfer control circuit, and the stack tray transfer controller is electrically connected;
the unstacking unit is arranged at the output end of the stack tray transfer unit in a butt joint mode and used for sequentially shunting fire extinguishers to be detected which are orderly stacked on the stack tray, the unstacking unit comprises a stack tray positioning part, a fire extinguisher to be detected grabbing and stacking part and an unstacking electric control part which are arranged on the unstacking rack, the stack tray positioning part comprises a stack tray positioning and conveying device, the stack tray positioning and conveying device comprises a stack tray conveying part with a stack tray positioning driving mechanism, the fire extinguisher to be detected grabbing and stacking part comprises a fire extinguisher to be detected grabbing and stacking mechanical arm and a fire extinguisher to be detected unstacking output device, the fire extinguisher to be detected unstacking output device comprises a fire extinguisher to be detected conveying part with a rolling driving mechanism, and the unstacking electric control part comprises a unstacking controller and a stack tray conveying control, the device comprises a control loop for grabbing and stacking the fire extinguisher to be detected, and a unstacking controller which is respectively electrically connected with a positioning part of a pallet and a grabbing and stacking part of the fire extinguisher to be detected;
the empty-load pallet stacking unit is arranged at the output end of the pallet positioning part of the unstacking unit in a butt joint mode and used for sequentially stacking and integrally outputting an empty-load pallet shunted by a fire extinguisher to be detected, the empty-load pallet stacking unit comprises an empty-load pallet conveying device, an empty-load pallet positioning and lifting stacking device and an empty-load pallet stacking electric control part, the empty-load pallet conveying device comprises an empty-load pallet driving mechanism, the empty-load pallet stacking electric control part comprises an empty-load pallet stacking controller, an empty-load pallet conveying control loop and an empty-load pallet stacking control loop, and the empty-load pallet stacking controller is electrically connected with the empty-load pallet driving mechanism and the empty-load pallet positioning and lifting stacking device of the empty-load pallet conveying device;
the aging seal detection unit is butt-jointed with the output end of the grabbing and stacking part of the fire extinguisher to be detected in the unstacking unit and is used for carrying out sequential mode identification and judgment on the shunted fire extinguishers to be detected and classifying the fire extinguishers according to the judgment result, eliminating unqualified fire extinguishers for temporary storage and outputting qualified fire extinguishers sequentially, the aging seal detection unit comprises a bottle inspection conveying device, a mode identification mechanism, an unqualified product eliminating device and an aging seal detection electric control part which are arranged on the aging seal detection rack, the bottle inspection conveying device comprises a bottle inspection conveying part with a bottle inspection conveying driving mechanism, the mode identification mechanism comprises a dial plate mode identification sensor, the aging seal detection electric control part comprises an aging seal detection controller, a counter, a bottle inspection conveying control loop, a mode identification control loop and an unqualified product eliminating control loop, and the counter is arranged on the aging seal detection rack, the aging sealing detection controller is respectively and electrically connected with the counter, the bottle detection conveying driving mechanism of the bottle detection conveying device, the mode identification mechanism and the unqualified product removing device;
the centralized electric control unit comprises a central controller and a display which are electrically connected, wherein the central controller is respectively and electrically connected with a pallet transport controller of a full-load pallet supply unit, a pallet transferring controller of a pallet transferring unit, an unstacking controller of an unstacking unit, an idle pallet stacking controller of an idle pallet stacking unit and an aging sealing detection controller of an aging sealing detection unit.
As an implementation mode of the unstacking unit, the stacking tray positioning part of the unstacking unit further comprises a stacking tray front positioning device, a stacking tray side positioning device and a stacking tray reference positioning rack; the front stacking tray positioning device is arranged at the front part of the stacking tray positioning and conveying device and comprises a front stacking tray positioning baffle and a front stacking tray positioning control mechanism, and the front stacking tray positioning baffle is arranged on the unstacking rack through the front stacking tray positioning control mechanism; the stacking tray side positioning device is arranged on the left side or the right side of the stacking tray positioning and conveying device and comprises a stacking tray side positioning push plate and a stacking tray side positioning control mechanism, and the stacking tray side positioning push plate is arranged on the unstacking rack through the stacking tray side positioning control mechanism; the stacking tray reference positioning rack is arranged on the right side or the left side of the stacking tray positioning and conveying device corresponding to the stacking tray side positioning device, and the end face, facing the stacking tray side positioning device, of the stacking tray reference positioning rack is arranged as a stacking tray reference positioning end face;
the fire extinguisher to be detected grabbing and stacking part of the unstacking unit comprises a fire extinguisher to be detected grabbing and stacking mechanical arm erected on the unstacking rack and a fire extinguisher to be detected grabbing and stacking mechanical arm arranged on the tail section of the fire extinguisher grabbing and stacking mechanical arm; the mechanical arm for grabbing and stacking the fire extinguisher to be detected at least comprises an X coordinate driving mechanism for controlling the fire extinguisher to move along the left-right direction and a Z coordinate driving mechanism for controlling the fire extinguisher to move along the up-down direction; the grabbing and stacking manipulator for the fire extinguisher to be detected comprises a supporting vertical plate arranged in the left-right direction and a plurality of negative pressure sucker structures horizontally and uniformly distributed on the supporting vertical plate in an array mode, and the negative pressure sucker structures are connected with a negative pressure source through pipelines and a negative pressure control valve group;
the unstacking electric control part further comprises a control loop of a stack tray positioning device, and the unstacking controller is electrically connected with the front stack tray positioning control mechanism, the side stack tray positioning control mechanism, a coordinate driving mechanism for grabbing and stacking mechanical arms of the fire extinguisher to be detected, a negative pressure control valve group for grabbing and stacking mechanical arms of the fire extinguisher to be detected and a rolling driving mechanism of the unstacking output device of the fire extinguisher to be detected respectively.
As a further improvement scheme of the invention, a mechanical hand for grabbing and stacking the fire extinguisher to be detected is also provided with a bottle body adsorption mode sensor which is electrically connected with the unstacking controller, and the unstacking electric control part also comprises a bottle body mode identification control loop; the mechanical arm for grabbing and stacking the fire extinguisher to be detected further comprises a Y coordinate driving mechanism for controlling the fire extinguisher to move in the front-back direction.
As an implementation mode of the aging seal detection unit, the aging seal detection unit also comprises a bottle blocking device and a fire extinguisher pose adjusting and mode identifying device, and the bottle blocking device, the fire extinguisher pose adjusting and mode identifying device and a defective product eliminating device are sequentially erected and installed above a bottle inspection conveying device from back to front;
the bottle inspection conveying device comprises a bottle inspection section, a transition section and a flow distribution section which are sequentially arranged from back to front, the bottle inspection section is in butt joint with the output end of the unstacking unit, and the flow distribution section comprises a qualified product output section and an unqualified product output section which are respectively in butt joint with the transition section;
the bottle blocking device is used for sequentially blocking or releasing the fire extinguisher to be detected before the fire extinguisher to be detected enters the fire extinguisher pose adjustment and mode recognition device, and comprises a bottle blocking part and a bottle blocking part expansion control mechanism;
the fire extinguisher pose adjusting and mode identifying device comprises a bottle body clamping auxiliary positioning mechanism, a pose adjusting mechanical arm and a pose adjusting mechanical arm; the bottle body clamping auxiliary positioning mechanism is arranged right in front of the bottle blocking device and comprises clamping frames and clamping frame telescopic control parts which are arranged in bilateral symmetry, the clamping frames are horizontally arranged on the aging seal detection rack through the clamping frame telescopic control parts, clamping rollers which are arranged in front and back symmetry are correspondingly arranged on opposite surfaces of the two clamping frames, and the axes of the clamping rollers are arranged in the vertical direction; the pose adjusting mechanical arm is arranged on the aging seal detection rack and is positioned right above the bottle body clamping auxiliary positioning mechanism, and the pose adjusting mechanical arm comprises a Z coordinate driving mechanism which controls the bottle body clamping auxiliary positioning mechanism to move along the vertical direction; the position of the pose adjusting manipulator is arranged corresponding to the position of the clamping center of the bottle body clamping auxiliary positioning mechanism, the pose adjusting manipulator is installed on the pose adjusting manipulator through a C coordinate rotation control mechanism capable of rotating around a Z coordinate axis, a turning positioning sensor is further arranged on the C coordinate rotation control mechanism of the pose adjusting manipulator, a distance sensor capable of feeding back the distance between the pose adjusting manipulator and a fire extinguisher to be detected is further arranged on the pose adjusting manipulator, a bayonet structure is arranged at the bottom of the pose adjusting manipulator, and the bayonet structure is matched with the appearance structure size of the handle position at the top end of the fire extinguisher; the mode recognition mechanism also comprises a bottle top mode sensor arranged on the pose adjusting mechanical arm, and the position of the dial plate mode recognition sensor corresponding to the bottle body clamping auxiliary positioning mechanism is positioned below the pose adjusting mechanical arm and is over against the left and right directions;
the unqualified product removing device is arranged at the side position of the transition section of the bottle inspection conveying device and comprises a bottle pushing part and a bottle pushing expansion control mechanism, the bottle pushing expansion control mechanism is arranged in an expansion mode along the left-right direction, and the bottle pushing part is arranged on the aging sealing detection rack through the bottle pushing expansion control mechanism;
the aging sealing detection electric control part also comprises a bottle blocking control loop and a fire extinguisher position and orientation adjustment control loop, and the aging sealing detection controller is respectively electrically connected with a bottle blocking part telescopic control mechanism of the bottle blocking device, a clamping frame telescopic control part of the bottle clamping auxiliary positioning mechanism, a coordinate driving mechanism of the position and orientation adjustment mechanical arm, a coordinate rotation control mechanism of the position and orientation adjustment mechanical arm, a rotation direction positioning sensor of the position and orientation adjustment mechanical arm, a distance sensor of the position and orientation adjustment mechanical arm and a bottle pushing telescopic control mechanism of the unqualified product removing device.
As a further improvement scheme of the fire extinguisher bottle body clamping auxiliary positioning mechanism, a clamping frame of the bottle body clamping auxiliary positioning mechanism is also provided with a cleaning brush plate, the cleaning brush plate is arranged corresponding to a labeling position of the fire extinguisher bottle body, and a flexible cleaning part is arranged on the cleaning brush plate.
As an embodiment of the full-load pallet feeding unit of the present invention, the full-load pallet feeding unit further includes a rail and a carrier vehicle cooperatively erected on the rail; the stack tray conveying device is arranged on a supporting platform of the stack tray; the stack tray transportation electric control part also comprises a carrier vehicle driving control loop, and the stack tray transportation controller is electrically connected with the supporting wheel driving mechanism.
As a further development of the invention, the front end of the empty pallet conveyor is arranged in abutment on one side of the full pallet feed unit in a position corresponding to the position of the pallet conveyor of the full pallet feed unit.
As a further improvement scheme of the invention, the stack tray transferring unit and the idle-load stack tray stacking unit are arranged in parallel, the unstacking unit is vertically butted between the stack tray transferring unit and the idle-load stack tray stacking unit, and the butting positions of the unstacking unit and the stack tray transferring unit and the butting positions of the unstacking unit and the idle-load stack tray stacking unit are respectively provided with a right-angle turning transferring device;
the right-angle turning transshipment device comprises a pallet turning conveying device, a pallet jacking transshipment conveying device and a right-angle turning transshipment electric control part, wherein the pallet turning conveying device, the pallet jacking transshipment conveying device and the right-angle turning transshipment electric control part are arranged on the turning transshipment rack; the conveying direction of the pallet turning conveying device is consistent with the conveying direction of the pallet positioning conveying device, the pallet turning conveying device comprises pallet conveying parts with pallet turning conveying driving mechanisms, and the pallet conveying parts are arranged in a bilateral symmetry mode; the tray jacking and transferring conveying device is arranged in front of the transferring conveying device of the tray transferring unit and behind the no-load tray conveying device of the no-load tray stacking unit, the conveying height of the tray jacking and transferring conveying device is lower than the conveying heights of the transferring conveying device of the tray transferring unit and the no-load tray conveying device of the no-load tray stacking unit, the tray jacking and transferring conveying device comprises a tray carrying frame and a carrying frame lifting mechanism, the tray carrying frame is arranged on the direction-changing transferring rack through the carrying frame lifting mechanism, the tray conveying device with the conveying direction consistent with the conveying direction of the transferring conveying device of the tray transferring unit and the no-load tray conveying device of the no-load tray stacking unit is arranged on the tray carrying frame, and the tray conveying device comprises a tray conveying driving mechanism; the right-angle turning and transshipping electric control part comprises a right-angle turning and transshipping controller and a pallet right-angle turning and transshipping control loop, and the right-angle turning and transshipping controller is respectively electrically connected with a pallet turning and transporting driving mechanism of the pallet turning and transporting device, a carrier frame lifting mechanism of the pallet jacking and transshipping device and a pallet transporting driving mechanism of the pallet jacking and transshipping device; the central controller of the centralized electric control unit is electrically connected with the right-angle turning and transferring controller.
As a further improvement scheme of the invention, a bearing guide structure is arranged at the butt joint position of the full-load pallet feeding unit and the pallet transferring unit, the butt joint position of the pallet transferring unit and the unstacking unit, the butt joint position of the unstacking unit and the no-load pallet stacking unit and the butt joint position of the unstacking unit and the aging seal detection unit.
As the preferred scheme of the invention, the mechanical arm for grabbing and stacking the fire extinguisher to be detected is of a portal mechanical arm structure.
Compared with the prior art, the unstacking unit of the fire extinguisher finished product reinspection system is provided with a stack tray positioning part and a fire extinguisher to be detected grabbing and stacking part, the mode of sequentially shunting the fire extinguishers to be detected which are orderly stacked on the stack tray can adopt a mode of positioning, negative pressure adsorption, grabbing and stacking the bottle bodies of the fire extinguishers from the side positions of a mechanical arm, and also can adopt a mode of positioning, clamping, grabbing and stacking the bottle bodies of the fire extinguishers from the top positions of the mechanical arm, and the mode of pushing the stack tray to perform right-angle positioning can also adopt a mode of positioning, guiding and positioning by using a guide plate, so that the fire extinguishers to be detected which are orderly stacked on the stack tray can be sequentially shunted, and the fire extinguishers to be detected enter an aging seal detection unit one by; because the idle-load pallet stacking unit comprising the idle-load pallet positioning lifting pallet stacking device is arranged, the idle-load pallets which are shunted by the fire extinguisher to be detected can be automatically and sequentially stacked in rows and integrally output; because the aging seal detection unit is provided with a fire extinguisher position and orientation adjustment and mode identification device and a defective product rejection device, the fire extinguisher position and orientation adjustment and mode identification device comprises a dial plate mode identification sensor arranged on the aging seal detection rack, therefore, the position and the posture of the fire extinguisher to be detected can be adjusted to ensure that the position of the pressure gauge of the fire extinguisher is over against the dial plate mode identification sensor, and the qualified fire extinguishers are sequentially output and the unqualified fire extinguishers are rejected and temporarily stored by the unqualified product rejecting device by carrying out sequential mode identification and judgment on the fire extinguishers to be detected and classifying according to the judgment result, so that the batch automatic detection is realized and the detection quality is ensured at the same time, the fire extinguisher sealing detection device can greatly reduce the labor intensity of detection personnel, avoid the condition of wrong judgment caused by human factors, and is particularly suitable for batch aging sealing detection of fire extinguisher products.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic three-dimensional structure of the unstacking unit of the present invention;
figure 3 is a schematic three-dimensional structure of an empty pallet stacking unit according to the invention;
FIG. 4 is a schematic three-dimensional structure of the age seal test unit of the present invention;
FIG. 5 is a schematic diagram of a three-dimensional structure of the fire extinguisher to be detected when the grabbing and stacking manipulator of the fire extinguisher to be detected is clamped with the fire extinguisher to be detected;
fig. 6 is a schematic three-dimensional structure diagram of the bottle body clamping auxiliary positioning mechanism of the present invention.
In the figure: 1. a full-load pallet feeding unit, 11, a track, 12, a carrier vehicle, 2, a pallet transferring unit, 3, an unstacking unit, 31, a pallet positioning and conveying device, 32, a pallet front positioning device, 321, a pallet front positioning baffle, 322, a pallet front positioning control mechanism, 33, a pallet side positioning device, 331, a pallet side positioning push plate, 332, a pallet side positioning control mechanism, 34, a pallet reference positioning rack, 35, a to-be-detected fire extinguisher grabbing and stacking mechanical arm, 36, a to-be-detected fire extinguisher grabbing and stacking mechanical arm, 37, a to-be-detected fire extinguisher unstacking output device, 4, an idle pallet stacking unit, 41, an idle pallet conveying device, 42, an idle pallet positioning and lifting device, 421, a lifting frame, 422, a lifting driving control mechanism, 423, a plug board, 424, a plug board telescopic control mechanism, 5, an aging seal detection unit, 51, a bottle detection and conveying device, 52. the device comprises a bottle blocking device, a 53 fire extinguisher pose adjusting and mode identifying device, a 531 bottle body clamping auxiliary positioning mechanism, a 532 pose adjusting mechanical arm, a 533 pose adjusting mechanical arm, a 534 mode identifying mechanism, a 54 unqualified product eliminating device, a 6 right-angle turning and transferring device, a 61 pallet turning and conveying device, a 62 pallet jacking and transferring conveying device, a 621 pallet carrying frame.
Detailed Description
The invention will be further illustrated with reference to the accompanying drawings (hereinafter described with the movement direction of the pallet or the extinguisher to be inspected as the front).
As shown in figure 1, the finished product reinspection system of the fire extinguisher comprises a full-load pallet feeding unit 1, a pallet transshipment unit 2, an unstacking unit 3, an empty pallet stacking unit 4, an aging seal detection unit 5 and a centralized electric control unit.
The full-load tray supply unit 1 is used for conveying and replenishing trays on which a plurality of fire extinguishers to be detected are orderly stacked in an array mode and conveying and recovering an empty tray group, the modes of conveying and replenishing the trays and conveying and recovering the empty tray group can adopt a mode of directly conveying a carrier, and can also adopt a mode of transferring the trays or an empty tray group onto an AGV (automatic guided vehicle) conveying vehicle by using a transfer mechanical arm, as an embodiment of the invention, as shown in FIG. 1, the full-load tray supply unit 1 comprises a rail 11, a carrier 12 which is cooperatively erected on the rail 11 and a tray conveying electric control part which is installed on the carrier 12;
the carrier vehicle 12 comprises a supporting wheel matched with the track 11, the supporting wheel is provided with a supporting wheel driving mechanism, the supporting wheel driving mechanism can adopt a driving gearbox structure driven by a stepping motor and can also adopt a speed reducing motor structure, a carrier platform of the carrier vehicle 12 is provided with a pallet conveying device arranged along the front-back direction in a conveying way, the pallet conveying device can adopt a belt conveyor structure arranged along the front-back direction in a rolling way, a conveying carrier chain structure arranged along the front-back direction in a rolling way or other structures such as a conveying roller way structure consisting of a plurality of carrier rollers arranged in a parallel rolling way, and the pallet conveying device comprises a pallet conveying driving mechanism; the stack tray transportation electric control part comprises a stack tray transportation controller, a carrier vehicle driving control loop, a stack tray transportation control loop and a counting control loop, wherein the stack tray transportation controller is respectively electrically connected with the supporting wheel driving mechanism and the stack tray transportation driving mechanism.
The position of the stack tray transfer unit 2, which corresponds to the stack tray conveying device of the carrier 12, is butted and arranged at one side of the fully-loaded stack tray supply unit 1 and is used for carrying and conveying the stack tray output by the stack tray conveying device of the carrier 12, and the stack tray transfer unit 2 comprises a transfer frame body fixedly arranged on the ground, a transfer conveying device arranged on the transfer frame body and a stack tray transfer electric control part; the transfer conveying device comprises a transfer conveying driving mechanism which is arranged in a rolling manner in the front-back direction, the transfer conveying driving mechanism can adopt a driving gearbox structure driven by a stepping motor and can also adopt a speed reduction motor structure, the transfer conveying device can adopt a carrier roller conveying manner arranged in the rolling manner in the front-back direction, a carrying conveying chain conveying manner arranged in the rolling manner in the front-back direction or a carrying conveying belt conveying manner in the front-back direction, and the height dimension of a conveying plane of the transfer conveying device from the ground is not more than the height dimension of a conveying plane of a stack tray conveying device of the carrying vehicle 12 from the ground; the stack tray transfer electric control part comprises a stack tray transfer controller and a stack tray transfer control loop, and the stack tray transfer controller is electrically connected with the transfer conveying driving mechanism.
The unstacking unit 3 is arranged at the output end of the stack tray transferring unit 2 in a butt joint mode and used for sequentially shunting fire extinguishers to be detected which are orderly stacked on the stack tray, the mode of sequentially shunting the fire extinguishers to be detected which are orderly stacked on the stack tray can adopt a mode that a mechanical arm positions the bottles of the fire extinguishers from the side to adsorb, grasp and stack the bottles of the fire extinguishers from the top, and the mode of positioning, clamping, grasping and stacking the bottles of the fire extinguishers can adopt a mode of pushing the bottles to perform right-angle positioning and can also adopt a mode of positioning, guiding and positioning by using a guide plate, and serves as an implementation mode of the invention, as shown in figure 2, the unstacking unit 3 comprises a stack tray positioning part, a fire extinguishers grasping and stacking part and an electric control part for unstacking which are installed on an unstacking rack;
the pallet positioning part comprises a pallet positioning and conveying device 31, a front pallet positioning device 32, a side pallet positioning device 33 and a pallet reference positioning rack 34; the stack positioning and conveying device 31 arranged for forward conveying is in butt joint with the transfer conveying device of the stack transfer unit 2, the stack positioning and conveying device 31 comprises a stack conveying part with a stack positioning driving mechanism, the stack positioning driving mechanism can adopt a driving gearbox structure driven by a stepping motor or a speed reducing motor structure, and the stack conveying part can adopt a carrier roller conveying structure arranged in a rolling manner in the front-back direction, a carrier conveying chain structure arranged in a rolling manner in the front-back direction or a carrier conveying belt structure arranged in a conveying manner in the front-back direction; the front stack disc positioning device 32 is arranged at the front part of the stack disc positioning and conveying device 31 and comprises a front stack disc positioning baffle 321 and a front stack disc positioning control mechanism 322, the front stack disc positioning baffle 321 is arranged on the unstacking rack through the front stack disc positioning control mechanism 322, and the front stack disc positioning device 32 can adopt a structure that the front stack disc positioning baffle 321 is arranged in a telescopic mode along the left-right direction, can also adopt a structure that the front stack disc positioning baffle 321 is arranged in a telescopic mode along the up-down direction, or adopts a structure that the front stack disc positioning baffle 321 is arranged in a forward-backward turning mode through a crank arm connecting rod as shown in fig. 2; the stacking tray side positioning device 33 is arranged on the left side or the right side of the stacking tray positioning and conveying device 31 and comprises a stacking tray side positioning push plate 331 and a stacking tray side positioning control mechanism 332, the stacking tray side positioning push plate 331 is installed on the unstacking rack through the stacking tray side positioning control mechanism 332, and the stacking tray side positioning device 33 can adopt a structure that the stacking tray side positioning push plate 331 is arranged in a telescopic mode along the left-right direction as shown in fig. 2 or a structure that the stacking tray side positioning push plate 331 is arranged in a left-right turning mode through a crank arm connecting rod; the stacking tray reference positioning rack 34 is arranged on the right side or the left side of the stacking tray positioning and conveying device 31 corresponding to the stacking tray side positioning device 33, and the end face, facing the stacking tray side positioning device 33, of the stacking tray reference positioning rack 34 is set as a stacking tray reference positioning end face;
the fire extinguisher grabbing and stacking part to be detected comprises a fire extinguisher grabbing and stacking mechanical arm 35 erected on the unstacking rack, a fire extinguisher grabbing and stacking mechanical arm 36 arranged on the tail of the fire extinguisher grabbing and stacking mechanical arm 35 to be detected and an unstacking output device 37 of the fire extinguisher to be detected; the mechanical arm 35 for grabbing and stacking fire extinguishers to be detected can adopt a portal mechanical arm as shown in figure 2, can also adopt other mechanical arms such as a joint mechanical arm and the like, and the coordinate movement control of the portal mechanical arm is relatively simple, so that the mechanical arm 35 for grabbing and stacking fire extinguishers to be detected preferably adopts a portal mechanical arm structure, and the mechanical arm 35 for grabbing and stacking fire extinguishers to be detected at least comprises an X coordinate driving mechanism for controlling the movement along the left-right direction and a Z coordinate driving mechanism for controlling the movement along the up-down direction; the grabbing and stacking manipulator 36 for the fire extinguisher to be detected comprises a supporting vertical plate arranged in the left-right direction and a plurality of negative pressure sucker structures horizontally and uniformly distributed on the supporting vertical plate in an array mode, and the negative pressure sucker structures are connected with a negative pressure source through a pipeline and a negative pressure control valve group; the unstacking and outputting device 37 for the fire extinguishers to be detected comprises a conveying part of the fire extinguishers to be detected, wherein the conveying part is provided with a rolling driving mechanism, the rolling driving mechanism can adopt a driving gearbox structure driven by a stepping motor or a speed reducing motor structure, and the conveying part of the fire extinguishers to be detected can adopt a carrier roller conveying structure or a carrier conveying belt structure;
the unstacking electric control part comprises an unstacking controller, a stack tray conveyor control loop, a stack tray positioning device control loop and a fire extinguisher to be detected grabbing and stacking control loop, wherein the unstacking controller is respectively and electrically connected with a stack tray positioning driving mechanism of the stack tray positioning conveyor 31, a stack tray front positioning control mechanism 322, a stack tray side positioning control mechanism 332, a coordinate driving mechanism of a fire extinguisher to be detected grabbing and stacking mechanical arm 35, a negative pressure control valve group of a fire extinguisher to be detected grabbing and stacking mechanical arm 36 and a rolling driving mechanism of a fire extinguisher to be detected unstacking output device 37.
The no-load pallet stacking unit 4 is arranged in front of the pallet positioning part of the unstacking unit 3 in a butt joint mode, is used for sequentially stacking and integrally outputting the no-load pallets shunted by fire extinguishers to be detected, and can adopt a mode of sequentially stuffing from the bottom and stacking or a mode of sequentially stacking and stacking from the top as an implementation mode of the invention, as shown in fig. 3, the no-load pallet stacking unit 4 comprises a no-load pallet conveying device 41, a no-load pallet positioning and lifting stacking device 42 and a no-load pallet stacking electric control part which are arranged on a no-load pallet stacking rack;
the rear end of the idle-load pallet conveying device 41 is in butt joint with the pallet positioning conveying device 31 of the unstacking unit 3, the idle-load pallet conveying device 41 comprises an idle-load pallet conveying part with an idle-load pallet driving mechanism, the idle-load pallet driving mechanism can adopt a driving gearbox structure driven by a stepping motor or a speed reduction motor structure, and the idle-load pallet conveying part can adopt a carrier roller conveying structure arranged in a rolling manner in the front-back direction, can also adopt a supporting conveying chain structure arranged in a rolling manner in the front-back direction as shown in fig. 3 or adopt a supporting conveying belt structure arranged in the front-back direction;
the empty-load pallet positioning, lifting and stacking devices 42 are symmetrically arranged in two sets left and right relative to the empty-load pallet conveying device 41, and each empty-load pallet positioning, lifting and stacking device 42 comprises a lifting frame 421, a lifting driving control mechanism 422, a plug board 423, a plug board telescopic control mechanism 424 and an empty-load pallet blocking and positioning mechanism; the lifting frame 421 is connected to the idle-load pallet stacking frame through a vertically arranged lifting guide mechanism, and the lifting guide mechanism may adopt a guide groove structure, a guide rail structure, a roller structure and the like; the lifting driving control mechanism 422 is vertically arranged between the idle-load pallet stacking rack and the lifting frame 421, the lifting driving control mechanism 422 can be a gear and rack structure, a lifting hydraulic cylinder structure, an electric screw rod structure and other structures which are arranged in a matched mode, and the lifting frame 421 can be vertically lifted by controlling the action of the lifting driving control mechanism 422; the inserting plate 423 is horizontally arranged on the lifting frame 421 through an inserting plate telescopic control mechanism 424 and an inserting plate translation guide mechanism, and the inserting plate 423 is arranged in a telescopic manner along the left and right directions, the inserting plate translation guide mechanism can adopt a guide groove structure which is arranged in a matched manner, and can also adopt a guide rail and roller structure which are arranged in a matched manner, and the like, and the inserting plate telescopic control mechanism 424 can be a gear rack structure which is arranged in a matched manner, and can also be a lifting hydraulic cylinder structure, or other structures such as a crank and swing rod structure which is driven by a driving motor and is shown in fig. 3; the empty-load pallet blocking and positioning mechanism is used for positioning and blocking the empty-load pallet when the empty-load pallet is stacked in rows, and comprises a blocking and positioning part and a blocking and positioning telescopic control part, wherein the blocking and positioning part and the blocking and positioning telescopic control part can adopt a structure that the blocking and positioning part is arranged in a telescopic manner along the left-right direction, can also adopt a structure that the blocking and positioning part is arranged in a telescopic manner along the up-down direction, or adopt a structure that the blocking and positioning part is arranged in a forward-backward overturning manner through a crank arm connecting rod;
the no-load pallet stacking electric control part comprises a no-load pallet stacking controller, a no-load pallet conveying control loop and a no-load pallet stacking control loop, wherein the no-load pallet stacking controller is respectively and electrically connected with a no-load pallet driving mechanism, a lifting driving control mechanism 422, a plug board telescopic control mechanism 424 and a blocking positioning telescopic control part of a no-load pallet blocking positioning mechanism of the no-load pallet conveying device 41.
The aging sealing detection unit 5 is arranged in front of the grabbing and stacking part of the fire extinguishers to be detected in the unstacking unit 3 in a butt joint mode, and is used for carrying out sequential mode identification and judgment on the shunted fire extinguishers to be detected, classifying the shunted fire extinguishers according to the judgment result, removing and temporarily storing unqualified fire extinguishers and sequentially outputting the qualified fire extinguishers; as shown in fig. 4, the aging seal detection unit 5 comprises a bottle detection conveying device 51, a bottle blocking device 52, a fire extinguisher adjustment and mode identification device 53, a defective product rejection device 54 and an aging seal detection electric control part which are arranged on an aging seal detection rack, and the bottle blocking device 52, the fire extinguisher position adjustment and mode identification device 53 and the defective product rejection device 54 are sequentially erected above the bottle detection conveying device 51 from back to front;
the bottle inspection conveying device 51 comprises a bottle inspection conveying part with a bottle inspection conveying driving mechanism, the bottle inspection conveying driving mechanism can adopt a driving gearbox structure driven by a stepping motor and also can adopt other driving structures such as a speed reducing motor and the like, the bottle inspection conveying part can adopt a carrier roller conveying structure and also can adopt a carrying conveyer belt structure shown in figure 4, the bottle inspection conveying device 51 comprises a bottle inspection section, a transition section and a shunting section which are sequentially arranged from back to front, the rear end of the bottle inspection section is in butt joint connection with the output end of the unstacking output device 37 of the fire extinguisher to be inspected of the unstacking unit 3, and the shunting section comprises a qualified product output section and an unqualified product output section which are respectively in butt joint with the transition section;
the bottle blocking device 52 is used for sequentially blocking or releasing the fire extinguisher to be detected before the fire extinguisher to be detected enters the fire extinguisher pose adjustment and mode recognition device 53, the bottle blocking device 52 comprises a bottle blocking part and a bottle blocking part telescopic control mechanism, and the bottle blocking part telescopic control mechanism can adopt a telescopic baffle structure or a symmetrical telescopic rod structure as shown in fig. 4;
the fire extinguisher pose adjustment and mode recognition device 53 comprises a bottle body clamping auxiliary positioning mechanism 531, a pose adjustment mechanical arm 532, a pose adjustment mechanical arm 533 and a mode recognition mechanism 534; the bottle body clamping auxiliary positioning mechanism 531 is arranged right in front of the bottle blocking device 52, as shown in fig. 6, the bottle body clamping auxiliary positioning mechanism 531 comprises a clamping frame and a clamping frame telescopic control part which are arranged in bilateral symmetry, the clamping frame is horizontally arranged on the aging seal detection rack through the clamping frame telescopic control part, clamping rollers which are arranged in front and back symmetry are correspondingly arranged on opposite surfaces of the two clamping frames, the axes of the clamping rollers are arranged in a vertical direction, the clamping frame telescopic control part can be a gear rack structure which is arranged in a matched manner, also can be a hydraulic cylinder or air cylinder structure, or can be other structures such as an electric screw rod structure, and the like, and the clamping state after the two clamping frames are combined or the separation releasing state can be realized by controlling the action of the clamping frame telescopic control part; the pose adjusting mechanical arm 532 is arranged on the aging seal detection rack, the pose adjusting mechanical arm 532 is positioned right above the bottle body clamping auxiliary positioning mechanism 531, and the pose adjusting mechanical arm 532 comprises a Z coordinate driving mechanism which controls the motion along the up-down direction; the pose adjusting manipulator 533 is arranged corresponding to the position of the clamping center of the bottle clamping auxiliary positioning mechanism 531, as shown in fig. 5, the pose adjusting manipulator 533 is mounted on the pose adjusting manipulator 532 through a C coordinate rotation control mechanism which can rotate around a Z coordinate axis, a turning positioning sensor is further arranged on the C coordinate rotation control mechanism of the pose adjusting manipulator 533, a distance sensor which can feed back the distance between the pose adjusting manipulator 533 and the fire extinguisher to be inspected is further arranged on the pose adjusting manipulator 533, a bayonet structure is arranged at the bottom of the pose adjusting manipulator 533, and the bayonet structure is matched with the shape structure size of the handle position at the top end of the fire extinguisher; the mode recognition mechanism 534 comprises a bottle top mode sensor arranged on the pose adjusting manipulator 533 and a dial mode recognition sensor arranged on the aging seal detection rack, and the position of the dial mode recognition sensor corresponding to the bottle body clamping auxiliary positioning mechanism 531 is positioned below the pose adjusting manipulator 532 and is over against the left and right directions;
the unqualified product removing device 54 is arranged at the side position of the transition section of the bottle inspection conveying device 51 and comprises a bottle pushing part and a bottle pushing expansion control mechanism, the bottle pushing expansion control mechanism is arranged in an expansion mode along the left-right direction, the bottle pushing expansion control mechanism can be a gear rack structure, a hydraulic cylinder or air cylinder structure or an electric screw rod structure and other structures which are arranged in a matched mode, and the bottle pushing part is installed on the aging sealing detection rack through the bottle pushing expansion control mechanism;
the aging sealing detection electric control part comprises an aging sealing detection controller, a counter, a bottle detection conveying control loop, a bottle blocking control loop, a fire extinguisher pose adjustment control loop, a mode identification control loop and a defective product rejection control loop, the counter is arranged on the aging sealing detection machine frame, the aging seal detection controller is respectively and electrically connected with a counter, a bottle detection conveying driving mechanism of the bottle detection conveying device 51, a bottle blocking part expansion control mechanism of the bottle blocking device 52, a clamping frame expansion control member of the bottle clamping auxiliary positioning mechanism 531, a coordinate driving mechanism of the pose adjusting mechanical arm 532, a coordinate rotation control mechanism of the pose adjusting mechanical arm 533, a rotation direction positioning sensor of the pose adjusting mechanical arm 533, a distance sensor of the pose adjusting mechanical arm 533, a mode identification mechanism 534 and a bottle pushing expansion control mechanism of the unqualified product eliminating device 54.
The centralized electric control unit comprises a central controller and a display which are electrically connected, wherein the central controller is respectively and electrically connected with a pallet transport controller of the full-load pallet supply unit 1, a pallet transferring controller of the pallet transferring unit 2, an unstacking controller of the unstacking unit 3, an idle-load pallet stacking controller of the idle-load pallet stacking unit 4 and an aging sealing detection controller of the aging sealing detection unit 5.
The core of automated production is ordered production, i.e. sequencing is the most crucial process in automated production. This fire extinguisher finished product reinspection system will be located fully loaded on the buttress plate supply unit 1 through the buttress plate unit 2 that reprints, neatly put in order a plurality of leading-in unstacking unit 3 backs of buttress plate of waiting to examine the fire extinguisher, will examine the fire extinguisher and snatch the pile-up in order and carry one by one and detect to ageing sealed detecting element 5, carry out mode identification through the mode identification sensor in ageing sealed detecting element 5 to the manometer of waiting to examine the fire extinguisher and judge whether waiting to examine the fire extinguisher and leak gas, and the record, reject the fire extinguisher that will disqualified at last and keep in, carry out order output with qualified fire extinguisher, the unloaded buttress plate that accomplishes the unstacking gets into unloaded buttress plate pile up neatly unit 4 and carries out order list pile-up and.
The specific working principle is as follows: in an initial state, the front positioning baffle 321 and the side positioning push plate 331 of the pallet are both in an un-positioned retraction state, the grabbing and stacking manipulator 36 of the fire extinguisher to be detected is in a standby state above the reference positioning rack 34 of the pallet, the lifting rack 421 is in an un-lifted state at a lower stroke position, the inserting plate telescopic control mechanism 424 drives the inserting plate 423 to be in a fully retracted abdicating state, the blocking positioning telescopic control part of the no-load pallet blocking positioning mechanism is in a fully retracted abdicating state, the bottle blocking part telescopic control mechanism of the bottle blocking device 52 is in a fully retracted releasing state, the bottle clamping auxiliary positioning mechanism 531 is in a separated releasing state, the posture adjusting mechanical arm 532 is at an upper stroke position, and the bottle pushing telescopic control mechanism of the unqualified product rejecting device 54 is in a fully retracted state;
fire extinguishers qualified in first sealing detection are orderly arranged and stacked on a stack tray and subjected to aging treatment, and an operator controls an AGV fork truck to install a first stack tray fork carrying fire extinguishers to be detected after the aging treatment is finished on a stack tray conveying device of a carrier vehicle 12 to start the fire extinguisher finished product reinspection system;
the central controller controls the full-load pallet feeding unit 1 to start working, and the pallet transport controller controls the carrier vehicle 12 to move to the butt joint position of the pallet transferring unit 2 along the track 11 coordinate through the supporting wheel driving mechanism and stop;
the central controller controls the stack tray transshipment unit 2 to start working, the stack tray transportation controller of the stack tray transshipment unit 2 controls the transshipment conveying device to carry out forward conveying action while the stack tray transshipment controller of the fully loaded stack tray supply unit 1 controls the stack tray conveying device to carry out forward conveying action, a first stack tray loaded with fire extinguishers to be detected which are orderly arranged and stacked is transshipped to the transshipment conveying device of the stack tray transshipment unit 2 and continues to move forward, the stack tray conveying device of the fully loaded stack tray supply unit 1 after the transshipment is finished stops conveying action, and an operator can control a forklift to load a second stack tray fork loaded with the fire extinguishers to be detected which are finished with aging treatment on the stack tray conveying device of the carrier 12 for standby;
the central controller controls the unstacking unit 3 to start working, the unstacking controller controls the stacking tray positioning and conveying device 31 to carry out forward conveying action, a first stacking tray loaded with fire extinguishers to be detected which are orderly arranged and stacked is transferred to the stacking tray positioning and conveying device 31, and the transferring and conveying device of the stacking tray transferring unit 2 stops conveying action after transferring is completed; in the process that the first pallet is transferred to the pallet positioning and conveying device 31, the unstacking controller firstly controls the front pallet positioning control mechanism 322 to act to enable the front pallet positioning baffle 321 to be in a positioned extending state, when the first pallet touches the front pallet positioning baffle 321, the first pallet is in a front positioning state, then the unstacking controller controls the side pallet positioning control mechanism 332 to act to enable the side pallet positioning push plate 331 to extend and push the first pallet to be attached to the pallet reference positioning end face of the pallet reference positioning rack 34, namely, the positioning of the first pallet is completed, and the pallet positioning and conveying device 31 stops conveying action; then the unstacking controller controls the grabbing and stacking mechanical arm 35 of the fire extinguisher to be detected to move in a coordinate mode to enable the grabbing and stacking mechanical arm 36 of the fire extinguisher to be detected to be close to the fire extinguisher to be detected in the left-right direction, the unstacking controller controls the negative pressure control valve group of the grabbing and stacking mechanical arm 36 of the fire extinguisher to be detected to be opened at the same time, when the coordinates of the grabbing and stacking mechanical arm 35 of the fire extinguisher to be detected move to a set distance, the first row of fire extinguisher to be detected on the first stack tray and arranged and stacked on the outermost layer in the left-right direction is firmly adsorbed on the negative pressure sucker structure of the grabbing and stacking mechanical arm 36 of the fire extinguisher to be detected, then the unstacking controller controls the grabbing and stacking mechanical arm 35 of the fire extinguisher to be detected to move upwards in a coordinate mode to rise to a set distance and then to move towards the direction of the unstacking, then the unstacking controller controls the grabbing and stacking mechanical arm 35 of the fire extinguisher to be detected to move downwards to a coordinate and descend to a set distance, the first row of fire extinguishers to be detected fall onto the unstacking and outputting device 37 of the fire extinguishers to be detected, the unstacking controller controls the negative pressure control valve group of the grabbing and stacking mechanical arm 36 of the fire extinguishers to be detected to be closed and then the coordinate moves and resets to an initial state, grabbing and stacking of the first row of fire extinguishers to be detected are completed, the unstacking controller controls the unstacking and outputting device 37 of the fire extinguishers to be detected to start, the first row of fire extinguishers to be detected is supported by the unstacking and outputting device 37 of the fire extinguishers to be detected to move forwards, and the like, the fire extinguishers to be detected on the first stacking tray are grabbed and stacked in a row-by row mode and sequentially supported by the unsta;
in the process that the first row of fire extinguishers to be detected is supported and carried forward by the unstacking and outputting device 37 of the fire extinguishers to be detected, the central controller controls the aging sealing detection unit 5 to start working, the aging sealing detection controller controls the bottle detection and conveying device 51 to carry out forward conveying action, and the fire extinguishers to be detected are sequentially transferred to the bottle detection and conveying device 51; when the counter feeds back that the first fire extinguisher to be detected passes through the bottle blocking device 52, the aging seal detection controller controls the bottle blocking device 52 to extend out to block a subsequent second fire extinguisher to be detected, and simultaneously, the aging seal detection controller controls the bottle clamping auxiliary positioning mechanism 531 to act to enable the two clamping frames to be combined to clamp and position the first fire extinguisher to be detected, and simultaneously, the aging seal detection controller controls the pose adjusting arm 532 to act to enable the pose adjusting manipulator 533 to move downwards to be close to the top end of the first fire extinguisher to be detected, and during the downward movement of the pose adjusting manipulator 533, the distance sensor feeds back distance information to the aging seal detection controller in real time, and simultaneously, the bottle top mode sensor feeds back bottle top position information to the aging seal detection controller, and the aging seal detection controller compares the fed back bottle top position information with the built-in bottle top position standard model information, And calculates the angle that the pose adjusting manipulator 533 should rotate corresponding to the position of the top handle of the fire extinguisher to be inspected, then the aging seal detection controller controls the C coordinate rotation control mechanism of the pose adjusting manipulator 533 to rotate a proper angle according to the calculation result, the bayonet structure at the bottom of the pose adjusting manipulator 533 is the azimuth angle corresponding to the position of the top handle of the first fire extinguisher to be inspected, when the feedback distance information of the distance sensor reaches the set distance, the bayonet structure of the pose adjusting manipulator 533 is clamped into the position of the top handle of the first fire extinguisher to be inspected, so as to realize the connection between the pose adjusting manipulator 533 and the top handle of the first fire extinguisher to be inspected, then the aging seal detection controller controls the C coordinate rotation control mechanism of the pose adjusting manipulator 533 to rotate the pose adjusting manipulator 533 to drive the first fire extinguisher to be inspected in situ, when the rotary positioning sensor feeds back the pose adjusting mechanical arm 533 and rotates to the set position, the aging seal detection controller controls the C coordinate rotation control mechanism of the pose adjusting mechanical arm 533 to stop rotating, at the moment, the pressure dial of the first fire extinguisher to be detected is over against the dial mode identification sensor, then the aging seal detection controller controls the dial mode identification sensor to start, the dial mode identification sensor feeds back the dial pressure mode identification information of the first fire extinguisher to be detected to the aging seal detection controller, the aging seal detection controller compares the fed-back dial pressure mode identification information of the first fire extinguisher to be detected with the built-in dial pressure standard model information and judges whether the pressure value of the fire extinguisher to be detected is in the set range, and the detection of the first fire extinguisher to be detected is finished after the detection result is stored; then the aging seal detection controller controls the pose adjusting mechanical arm 532 to move upwards for resetting and controls the bottle body clamping auxiliary positioning mechanism 531 to reset, then the aging sealing detection controller controls the bottle blocking device 52 to open and sequentially pass the subsequent second fire extinguisher to be detected, the first fire extinguisher which is detected and the subsequent second fire extinguisher to be detected move forwards under the driving of the bottle detection conveying device 51, after the counter feeds back that the second fire extinguisher to be detected passes through the bottle blocking device 52, the group controller controls the bottle blocking device 52 to extend out to block a subsequent third fire extinguisher to be detected and carry out the detection operation of the second fire extinguisher to be detected, the first fire extinguisher which has finished the inspection, namely the inspected bottle conveying device 51 is conveyed to move forward to the transition section of the inspection bottle conveying device 51, and so on, the fire extinguishers to be inspected finish the inspection one by one and enter the transition section of the inspection bottle conveying device 51 in sequence; if the fire extinguisher which is inspected is qualified, the inspected fire extinguishers enter the qualified product output section of the bottle inspection conveying device 51 in sequence and are output to the next procedure; if the inspection result of a certain fire extinguisher which is inspected is unqualified, when the fire extinguisher which is inspected enters the transition section of the bottle inspection conveying device 51, the aging seal detection controller controls the unqualified product removing device 54 to act to push the fire extinguisher which is inspected to the unqualified product output section of the bottle inspection conveying device 51 for temporary storage;
after the fire extinguishers to be detected on the first stack tray are all sequentially shunted to the unstacking output device 37 of the fire extinguishers to be detected, the central controller controls the idle-load stack tray stacking unit 4 to start working, the unstacking controller controls the stack tray positioning and conveying device 31 to convey, the idle-load stack tray stacking controller controls the idle-load stack tray conveying device 41 to convey, the idle-load stack tray stacking controller controls the idle-load stack tray blocking and positioning mechanism to act, the first idle-load stack tray is transferred to the idle-load stack tray conveying device 41, the central controller sends an instruction to control the stack tray transferring unit 2 to work again, and a second subsequent stack tray loaded with the fire extinguishers to be detected after aging treatment is transferred to the unstacking unit 3 to continue inspection; when the first empty pallet moves forward and is positioned at a set stacking position by an empty pallet blocking and positioning mechanism to wait; after continuous inspection, when all fire extinguishers to be detected on the second empty-load pallet are sequentially shunted to the unstacking and outputting device 37 of the fire extinguishers to be detected, the empty-load pallet controller firstly controls the inserting plate telescopic control mechanism 424 to extend to enable the inserting plates 423 to be inserted into forking holes of the first empty-load pallet from the left side and the right side of the first empty-load pallet, then the empty-load pallet controller controls the lifting drive control mechanism 422 to move to enable the lifting frame 421 to lift to a set height, the inserting plates 423 lift the first empty-load pallet in the lifting process of the lifting frame 421, then the empty-load pallet controller controls the empty-load pallet conveying device 41 to move, the second empty-load pallet to move forwards and is positioned at a set stacking position by the empty-load pallet separating and positioning mechanism, then the empty-load pallet controller controls the lifting frame 421 to move downwards and reset and the inserting plates 423 to reset in sequence, the first empty pallet is piled on the second empty pallet; and analogizing in sequence, stacking the idle-load pallets one by one, and after the idle-load pallets are stacked to a set number, controlling the idle-load pallet blocking and positioning mechanism to reset by the idle-load pallet stacking controller, controlling the idle-load pallet conveying device 41 to convey, and outputting the idle-load pallets stacked in a line integrally.
In order to realize that the mechanical arm 36 for grabbing and stacking the fire extinguisher to be detected can accurately adsorb and grab the fire extinguisher to be detected, as a further improvement scheme of the invention, the mechanical arm 36 for grabbing and stacking the fire extinguisher to be detected is provided with a bottle body adsorption mode sensor which is electrically connected with the unstacking controller, and the unstacking electric control part also comprises a bottle body mode identification control loop; the mechanical arm 35 for grabbing and stacking fire extinguishers to be detected further comprises a Y coordinate driving mechanism for controlling the fire extinguishers to move in the front-back direction. Wait to examine the fire extinguisher and snatch stacking mechanical hand 36 and treat the fire extinguisher of examining earlier and carry out mode identification before treating the fire extinguisher of examining and adsorbing and snatching, unstacking controller compares bottle mode identification information and built-in standard bottle model, and judge whether there is the deviation value, if there is the deviation value, then unstacking controller waits to examine the fire extinguisher according to this deviation value control and snatchs the Y coordinate actuating mechanism action of stacking mechanical arm 35 and rectify a deviation, adsorb again after rectifying and snatch, and then can realize waiting to examine the fire extinguisher and snatch stacking mechanical hand 36 and treat the fire extinguisher and accurately adsorb and snatch.
In order to realize the automatic transfer of the whole stacked empty pallet, as a further improvement of the invention, the front end of the empty pallet conveying device 41 is butted and arranged at one side of the full-load pallet feeding unit 1 corresponding to the position of the pallet conveying device of the carrier 12. When the empty pallet stacking controller feeds back that the empty pallets are stacked to a set number, the central controller sends a command to control the pallet 12 to move to the front end butting position of the empty pallet conveying device 41, then the empty pallet stacking controller controls the empty pallet conveying device 41 to carry out forward conveying action, meanwhile, the pallet transport controller of the full-load pallet supply unit 1 controls the pallet conveying device to carry out backward conveying action, the stacked empty pallets are integrally transferred to the pallet 12, and the central controller can send a command to control the pallet 12 to move to transfer the stacked empty pallets.
In order to reduce the space occupation, as a further improvement scheme of the invention, as shown in fig. 1, a tray transferring unit 2 and an idle tray stacking unit 4 are arranged in parallel, an unstacking unit 3 is vertically arranged between the tray transferring unit 2 and the idle tray stacking unit 4 in a butt joint manner, and right-angle turning transferring devices 6 are arranged at the butt joint positions of the unstacking unit 3 and the tray transferring unit 2 and the butt joint positions of the unstacking unit 3 and the idle tray stacking unit 4; the right-angle turning transshipment device 6 comprises a pallet turning conveying device 61, a pallet jacking transshipment conveying device 62 and a right-angle turning transshipment electric control part which are arranged on the turning transshipment rack; the conveying direction of the pallet turning conveying device 61 is consistent with the conveying direction of the pallet positioning conveying device 31, the pallet turning conveying device 61 comprises pallet conveying parts with pallet turning conveying driving mechanisms, the pallet conveying parts are arranged in a bilateral symmetry mode, and the pallet conveying parts can be transmission chain structures arranged in a bilateral symmetry mode, transmission belt structures arranged in a bilateral symmetry mode or transmission roller structures arranged in a bilateral symmetry mode; the tray jacking and transferring conveying device 62 is arranged in front of the transferring conveying device of the tray transferring unit 2 and behind the empty tray conveying device 41 of the empty tray stacking unit 4, the conveying height of the tray jacking and transferring conveying device 62 is lower than the conveying heights of the transferring conveying device of the tray transferring unit 2 and the empty tray conveying device 41 of the empty tray stacking unit 4, the tray jacking and transferring conveying device 62 comprises a tray carrier 621 and a carrier lifting mechanism, the tray carrier 621 is arranged on the direction-changing transferring rack through the carrier lifting mechanism, the carrier lifting mechanism can adopt a hydraulic cylinder or a cylinder structure and can also adopt other structures such as an electric screw rod structure, the tray carrier 621 is provided with the tray conveying device with the conveying direction consistent with the conveying direction of the transferring conveying device of the tray transferring unit 2 and the empty tray conveying device 41 of the empty tray stacking unit 4, the pallet conveying device comprises a pallet conveying driving mechanism, and can adopt a belt conveyor structure or other conveying structures such as a conveying carrying chain structure; the right-angle turning and transshipping electric control part comprises a right-angle turning and transshipping controller and a pallet right-angle turning and transshipping control loop, and the right-angle turning and transshipping controller is respectively electrically connected with a pallet turning and transporting driving mechanism of the pallet turning and transporting device 61, a carrier frame lifting mechanism of the pallet jacking and transshipping device 62 and a pallet transporting and driving mechanism of the pallet jacking and transshipping device 62; the central controller of the centralized electric control unit is electrically connected with the right-angle turning and transferring controller. Taking the right-angle transfer of the stack tray with a plurality of fire extinguishers to be detected stacked in an orderly array as an example, the stack tray carrier 621 firstly lifts and receives the stack tray conveyed from the transfer conveying device of the stack tray transfer unit 2 under the jacking action of the carrier lifting mechanism, the stack tray carrier 621 stably receives the stack tray and then falls under the resetting action of the carrier lifting mechanism, the stack tray is erected on the stack tray turning conveying device 61, and the right-angle turning conveying of the stack tray can be realized by controlling the conveying action of the stack tray turning conveying device 61.
In order to clean the bottle body of the fire extinguisher to be detected simultaneously in the mode identification and inspection process so as to facilitate the subsequent attaching and inspection of qualified identification, as a further improvement scheme of the invention, a cleaning brush plate is also arranged on a clamping frame of the bottle body clamping auxiliary positioning mechanism 531, the cleaning brush plate is arranged corresponding to the labeling position of the fire extinguisher bottle body, and a flexible cleaning component is arranged on the cleaning brush plate, and the flexible cleaning component can be cleaning bristles, cleaning sponge and the like. In the process that the pose adjusting manipulator 533 is clamped and drives the fire extinguisher to be inspected to rotate in situ, the flexible cleaning component on the cleaning brush plate can be attached to the bottle body of the fire extinguisher to be inspected to clean the bottle body.
In order to realize accurate carrying and transferring of the stack tray or the fire extinguisher to be detected, as a further improvement scheme of the invention, carrying guide structures are arranged at the butt joint position of the full-load stack tray supply unit 1 and the stack tray transferring unit 2, the butt joint position of the stack tray transferring unit 2 and the unstacking unit 3, the butt joint position of the unstacking unit 3 and the no-load stack tray stacking unit 4 and the butt joint position of the unstacking unit 3 and the aging seal detection unit 5.
The fire extinguisher finished product rechecking system is an intelligent digital control system, can be seamlessly connected with a digital bus of a factory to realize centralized digital management, and is not limited to the specific control mode.
The unstacking unit 3 of the fire extinguisher finished product reinspection system is provided with a stack tray positioning part and a fire extinguisher to be detected grabbing and stacking part, and a mode of sequentially shunting the fire extinguishers to be detected neatly stacked on the stack tray can adopt a mode of positioning, negative pressure adsorption, grabbing and stacking the bottle bodies of the fire extinguishers from the side positions of a mechanical arm or a mode of positioning, clamping, grabbing and stacking the bottle bodies of the fire extinguishers from the top positions of the mechanical arm, and the stack tray can be pushed to perform right-angle positioning or positioned, guided and positioned by a guide plate, so that the fire extinguishers to be detected neatly stacked on the stack tray can be sequentially shunted, and the fire extinguishers to be detected enter the aging seal detection unit 5 one by one for detection; because the idle-load pallet stacking unit 4 comprising the idle-load pallet positioning lifting pallet device 42 is arranged, the idle-load pallets which are shunted by the fire extinguisher to be detected can be automatically and sequentially stacked in rows and integrally output; because the aging seal detection unit 5 is provided with a fire extinguisher position and orientation adjustment and mode recognition device 53 and a defective product rejection device 54, the fire extinguisher position and orientation adjustment and mode recognition device 53 comprises a dial plate mode recognition sensor arranged on the aging seal detection frame, therefore, the position and the posture of the fire extinguisher to be detected can be adjusted to ensure that the position of the pressure gauge of the fire extinguisher is over against the dial plate mode identification sensor, and the qualified fire extinguishers are sequentially output and the unqualified fire extinguishers are rejected and temporarily stored by the unqualified product rejecting device 54 by carrying out sequential mode identification and judgment on the fire extinguishers to be detected and classifying according to the judgment result, so that the batch automatic detection is realized and the detection quality is ensured at the same time, the fire extinguisher sealing detection device can greatly reduce the labor intensity of detection personnel, avoid the condition of wrong judgment caused by human factors, and is particularly suitable for batch aging sealing detection of fire extinguisher products.

Claims (10)

1. A fire extinguisher finished product reinspection system is characterized by comprising a full-load pallet feeding unit (1), a pallet transshipment unit (2), an unstacking unit (3), an unloaded pallet stacking unit (4), an aging sealing detection unit (5) and a centralized electric control unit;
the full-load pallet feeding unit (1) is used for conveying and supplying pallets on which a plurality of fire extinguishers to be detected are orderly stacked in an array manner, the full-load pallet feeding unit (1) comprises a pallet conveying device and a pallet conveying electric control part, the pallet conveying device comprises a pallet conveying driving mechanism, the pallet conveying electric control part comprises a pallet conveying controller, a pallet conveying control loop and a counting control loop, and the pallet conveying controller is electrically connected with the pallet conveying driving mechanism;
the position, corresponding to a stack tray conveying device of the full-load stack tray supply unit (1), of the stack tray transshipment unit (2) is in butt joint with the full-load stack tray supply unit (1), the stack tray transshipment unit (2) is used for carrying, transshipping and conveying the stack trays with a plurality of fire extinguishers to be detected in orderly arrayed mode, the stack tray transshipment unit (2) comprises a transshipment conveying device and a stack tray transshipment electric control part, the transshipment conveying device comprises a transshipment conveying driving mechanism, the stack tray transshipment electric control part comprises a stack tray transshipment controller and a stack tray transshipment control loop, and the stack tray transshipment controller is electrically connected with the transshipment conveying driving mechanism;
the unstacking unit (3) is arranged at the output end of the stack tray transferring unit (2) in a butt joint mode and used for sequentially shunting fire extinguishers to be detected which are orderly stacked on the stack tray, the unstacking unit (3) comprises a stack tray positioning part arranged on the unstacking rack, a fire extinguisher grabbing and stacking part to be detected and an unstacking electric control part, the stack tray positioning part comprises a stack tray positioning and conveying device (31), the stack tray positioning and conveying device (31) comprises a stack tray conveying part with a stack tray positioning and driving mechanism, the fire extinguisher grabbing and stacking part to be detected comprises a fire extinguisher grabbing and stacking mechanical arm (35) and a fire extinguisher unstacking output device (37) to be detected, the fire extinguisher unstacking output device (37) comprises a fire extinguisher conveying part with a rolling driving mechanism, the unstacking electric control part comprises a unstacking controller, a stack tray conveying control circuit and a fire extinguisher grabbing and stacking control circuit to be detected, the unstacking controller is electrically connected with the positioning part of the stack tray and the grabbing and stacking part of the fire extinguisher to be detected respectively;
the empty-load pallet stacking unit (4) is butted with the output end of a pallet positioning part of the unstacking unit (3) and is used for sequentially stacking empty-load pallets shunted by fire extinguishers to be detected in a row and integrally outputting the empty-load pallets, the empty-load pallet stacking unit (4) comprises an empty-load pallet conveying device (41), an empty-load pallet positioning and lifting stacking device (42) and an empty-load pallet stacking electric control part, the empty-load pallet conveying device (41) comprises an empty-load pallet driving mechanism, the empty-load pallet stacking electric control part comprises an empty-load pallet stacking controller, an empty-load pallet conveying control loop and an empty-load pallet stacking control loop, and the empty-load pallet stacking controller is electrically connected with the empty-load pallet driving mechanism of the empty-load pallet conveying device (41) and the empty-load pallet positioning and lifting stacking device (42);
the aging seal detection unit (5) is butt-jointed and arranged at the output end of a picking and stacking part of the fire extinguisher to be detected in the unstacking unit (3) and is used for carrying out sequential mode identification and judgment on the shunted fire extinguisher to be detected and classifying the fire extinguisher according to the judgment result, the unqualified fire extinguisher is rejected and temporarily stored, and the qualified fire extinguisher is sequentially output, the aging seal detection unit (5) comprises a bottle inspection conveying device (51) arranged on an aging seal detection rack, a mode identification mechanism (534), an unqualified product rejection device (54) and an aging seal detection electric control part, the bottle inspection conveying device (51) comprises a bottle inspection conveying part with a bottle inspection conveying driving mechanism, the mode identification mechanism (534) comprises a dial plate mode identification sensor, and the aging seal detection electric control part comprises an aging seal detection controller, a counter, a bottle inspection conveying control loop, a bottle conveying, The system comprises a mode identification control loop and a defective product rejection control loop, wherein a counter is arranged on an aging seal detection rack, and an aging seal detection controller is respectively and electrically connected with the counter, a bottle detection conveying driving mechanism of a bottle detection conveying device (51), a mode identification mechanism (534) and a defective product rejection device (54);
the centralized electric control unit comprises a central controller and a display which are electrically connected, wherein the central controller is respectively and electrically connected with a pallet transport controller of the full-load pallet supply unit (1), a pallet transferring controller of the pallet transferring unit (2), a unstacking controller of the unstacking unit (3), an unloaded pallet stacking controller of the unloaded pallet stacking unit (4) and an aging sealing detection controller of the aging sealing detection unit (5).
2. A fire extinguisher finished product reinspection system according to claim 1, wherein the tray positioning portion of the unstacking unit (3) further comprises a tray front positioning means (32), a tray side positioning means (33) and a tray reference positioning rack (34); the front tray positioning device (32) is arranged at the front part of the tray positioning and conveying device (31) and comprises a front tray positioning baffle (321) and a front tray positioning control mechanism (322), and the front tray positioning baffle (321) is arranged on the unstacking rack through the front tray positioning control mechanism (322); the stacking tray side positioning device (33) is arranged on the left side or the right side of the stacking tray positioning and conveying device (31) and comprises a stacking tray side positioning push plate (331) and a stacking tray side positioning control mechanism (332), and the stacking tray side positioning push plate (331) is arranged on the unstacking rack through the stacking tray side positioning control mechanism (332); the stacking tray reference positioning rack (34) is arranged on the right side or the left side of the stacking tray positioning and conveying device (31) corresponding to the stacking tray side positioning device (33), and the end face, facing the stacking tray side positioning device (33), of the stacking tray reference positioning rack (34) is arranged as a stacking tray reference positioning end face;
the fire extinguisher to be detected grabbing and stacking part of the unstacking unit (3) comprises a fire extinguisher to be detected grabbing and stacking mechanical arm (35) which is erected on the unstacking rack and a fire extinguisher to be detected grabbing and stacking mechanical arm (36) which is arranged on the tail section of the fire extinguisher grabbing and stacking mechanical arm (35); the mechanical arm (35) for grabbing and stacking the fire extinguisher to be detected at least comprises an X coordinate driving mechanism for controlling the fire extinguisher to move along the left-right direction and a Z coordinate driving mechanism for controlling the fire extinguisher to move along the up-down direction; the grabbing and stacking manipulator (36) of the fire extinguisher to be detected comprises a supporting vertical plate arranged in the left-right direction and a plurality of negative pressure sucker structures horizontally and uniformly distributed on the supporting vertical plate in an array mode, and the negative pressure sucker structures are connected with a negative pressure source through pipelines and a negative pressure control valve group;
the unstacking electric control part further comprises a control loop of a stack tray positioning device, and the unstacking controller is electrically connected with a front stack tray positioning control mechanism (322), a side stack tray positioning control mechanism (332), a coordinate driving mechanism of a grabbing and stacking mechanical arm (35) of the fire extinguisher to be detected, a negative pressure control valve group of a grabbing and stacking mechanical arm (36) of the fire extinguisher to be detected and a rolling driving mechanism of an unstacking output device (37) of the fire extinguisher to be detected respectively.
3. The fire extinguisher finished product reinspection system as claimed in claim 2, wherein a bottle body adsorption mode sensor is further arranged on the picking and stacking manipulator (36) of the fire extinguisher to be detected, the bottle body adsorption mode sensor is electrically connected with the unstacking controller, and the unstacking electric control part further comprises a bottle body mode identification control loop; the mechanical arm (35) for grabbing and stacking the fire extinguisher to be detected further comprises a Y coordinate driving mechanism for controlling the fire extinguisher to move in the front-back direction.
4. The fire extinguisher finished product reinspection system according to claim 1, wherein the aging seal detection unit (5) further comprises a bottle blocking device (52) and a fire extinguisher pose adjustment and mode identification device (53), and the bottle blocking device (52), the fire extinguisher pose adjustment and mode identification device (53) and a defective product rejection device (54) are sequentially erected and installed above the bottle inspection conveying device (51) from back to front;
the bottle inspection conveying device (51) comprises a bottle inspection section, a transition section and a flow dividing section which are sequentially arranged from back to front, the bottle inspection section is in butt joint with the output end of the unstacking unit (3), and the flow dividing section comprises a qualified product output section and an unqualified product output section which are respectively in butt joint with the transition section;
the bottle blocking device (52) is used for sequentially blocking or releasing the fire extinguisher to be detected before the fire extinguisher to be detected enters the fire extinguisher pose adjustment and mode recognition device (53), and the bottle blocking device (52) comprises a bottle blocking part and a bottle blocking part telescopic control mechanism;
the fire extinguisher pose adjusting and mode identifying device (53) comprises a bottle body clamping auxiliary positioning mechanism (531), a pose adjusting mechanical arm (532) and a pose adjusting mechanical arm (533); the bottle body clamping auxiliary positioning mechanism (531) is arranged right in front of the bottle blocking device (52), the bottle body clamping auxiliary positioning mechanism (531) comprises clamping frames and clamping frame telescopic control parts which are arranged in bilateral symmetry, the clamping frames are horizontally arranged on the aging seal detection rack through the clamping frame telescopic control parts, clamping rollers which are symmetrically arranged front and back are correspondingly arranged on the opposite surfaces of the two clamping frames, and the axes of the clamping rollers are arranged in the vertical direction; the pose adjusting mechanical arm (532) is arranged on the aging seal detection rack, the pose adjusting mechanical arm (532) is positioned right above the bottle body clamping auxiliary positioning mechanism (531), and the pose adjusting mechanical arm (532) comprises a Z coordinate driving mechanism which controls the motion along the up-down direction; the position of a pose adjusting manipulator (533) corresponds to the position of a clamping center of a bottle body clamping auxiliary positioning mechanism (531), the pose adjusting manipulator (533) is installed on the pose adjusting manipulator (532) through a C coordinate rotation control mechanism capable of rotating around a Z coordinate axis, a turning positioning sensor is further arranged on the C coordinate rotation control mechanism of the pose adjusting manipulator (533), a distance sensor capable of feeding back the distance between the pose adjusting manipulator (533) and a fire extinguisher to be detected is further arranged on the pose adjusting manipulator (533), a bayonet structure is arranged at the bottom of the pose adjusting manipulator (533), and the bayonet structure is matched with the shape structure size of the handle position at the top end of the fire extinguisher; the mode recognition mechanism (534) also comprises a bottle top mode sensor arranged on the pose adjusting manipulator (533), and the position of the dial plate mode recognition sensor corresponding to the bottle body clamping auxiliary positioning mechanism (531) is positioned below the pose adjusting manipulator (532) and is just opposite to the left and right directions;
the unqualified product removing device (54) is arranged at the side position of the transition section of the bottle inspection conveying device (51) and comprises a bottle pushing part and a bottle pushing telescopic control mechanism, the bottle pushing telescopic control mechanism is arranged in a telescopic mode along the left and right direction, and the bottle pushing part is installed on the aging sealing detection rack through the bottle pushing telescopic control mechanism;
the aging sealing detection electric control part also comprises a bottle blocking control loop and a fire extinguisher position and orientation adjustment control loop, and an aging sealing detection controller is respectively electrically connected with a bottle blocking part telescopic control mechanism of a bottle blocking device (52), a clamping frame telescopic control member of a bottle body clamping auxiliary positioning mechanism (531), a coordinate driving mechanism of a position and orientation adjustment mechanical arm (532), a coordinate rotation control mechanism of a position and orientation adjustment mechanical arm (533), a rotation direction positioning sensor of the position and orientation adjustment mechanical arm (533), a distance sensor of the position and orientation adjustment mechanical arm (533) and a bottle pushing telescopic control mechanism of a defective product eliminating device (54).
5. The fire extinguisher finished product reinspection system as claimed in claim 4, wherein the holding frame of the bottle body holding auxiliary positioning mechanism (531) is further provided with a cleaning brush plate, the cleaning brush plate is arranged corresponding to the labeling position of the fire extinguisher bottle body, and the cleaning brush plate is provided with a flexible cleaning member.
6. A fire extinguisher finished product reinspection system according to claim 1, wherein the fully loaded pallet feed unit (1) further comprises a track (11) and a carrier vehicle (12) cooperatively erected on the track (11); the carrier vehicle (12) comprises a supporting wheel matched with the track (11), a supporting wheel driving mechanism is arranged on the supporting wheel, and the stack tray conveying device is arranged on a carrier platform of the carrier vehicle (12); the stack tray transportation electric control part also comprises a carrier vehicle driving control loop, and the stack tray transportation controller is electrically connected with the supporting wheel driving mechanism.
7. A fire extinguisher product reinspection system according to claim 6, characterized in that the front end of the empty pallet conveyor (41) is butt-arranged on one side of the full-load pallet feed unit (1) in a position corresponding to the pallet conveyor of the full-load pallet feed unit (1).
8. The fire extinguisher finished product reinspection system according to any one of claims 1 to 6, characterized in that the tray transferring unit (2) and the empty tray stacking unit (4) are arranged in parallel, the unstacking unit (3) is vertically butted between the tray transferring unit (2) and the empty tray stacking unit (4), and the right-angle turning transferring device (6) is arranged at the butting position of the unstacking unit (3) and the tray transferring unit (2) and the butting position of the unstacking unit (3) and the empty tray stacking unit (4);
the right-angle turning transshipment device (6) comprises a pallet turning conveying device (61), a pallet jacking transshipment conveying device (62) and a right-angle turning transshipment electric control part, wherein the pallet turning conveying device, the pallet jacking transshipment conveying device and the right-angle turning transshipment electric control part are arranged on the turning transshipment rack; the conveying direction of the pallet turning conveying device (61) is consistent with the conveying direction of the pallet positioning conveying device (31), the pallet turning conveying device (61) comprises pallet conveying parts with pallet turning conveying driving mechanisms, and the pallet conveying parts are arranged in a bilateral symmetry mode; the tray jacking and transferring conveying device (62) is arranged in front of the transferring conveying device of the tray transferring unit (2) and behind the empty tray conveying device (41) of the empty tray stacking unit (4), the conveying height of the tray jacking and transferring conveying device (62) is lower than the conveying heights of the transferring conveying device of the tray transferring unit (2) and the empty tray conveying device (41) of the empty tray stacking unit (4), the tray jacking and transferring conveying device (62) comprises a tray carrier (621) and a carrier lifting mechanism, the tray carrier (621) is arranged on the direction-changing and transferring rack through the carrier lifting mechanism, the tray carrier (621) is provided with the tray conveying device with the conveying direction consistent with the conveying direction of the transferring conveying device of the tray transferring unit (2) and the empty tray conveying device (41) of the empty tray stacking unit (4), the pallet conveying device comprises a pallet conveying driving mechanism; the right-angle turning and transshipping electric control part comprises a right-angle turning and transshipping controller and a pallet right-angle turning and transshipping control loop, and the right-angle turning and transshipping controller is respectively electrically connected with a pallet turning and transporting driving mechanism of the pallet turning and transporting device (61), a carrier frame lifting mechanism of the pallet jacking and transshipping device (62) and a pallet transporting driving mechanism of the pallet jacking and transshipping device (62); the central controller of the centralized electric control unit is electrically connected with the right-angle turning and transferring controller.
9. Fire extinguisher finished product reinspection system according to any one of claims 1 to 6, characterized in that the butt joint position of the full load pallet feeding unit (1) and the pallet transshipment unit (2), the butt joint position of the pallet transshipment unit (2) and the unstacking unit (3), the butt joint position of the unstacking unit (3) and the empty pallet stacking unit (4), and the butt joint position of the unstacking unit (3) and the aging seal detection unit (5) are all provided with a bearing guide structure.
10. A fire extinguisher product reinspection system as claimed in any one of claims 1 to 6, wherein the fire extinguisher to be inspected grasping and stacking arm (35) is a gantry arm structure.
CN201910089812.0A 2019-01-30 2019-01-30 Fire extinguisher finished product reinspection system Active CN109772729B (en)

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CN109782721B (en) * 2019-01-30 2020-06-12 赛摩电气股份有限公司 Aging sealing detection unit of fire extinguisher finished product reinspection system and control method
CN112027995B (en) * 2020-09-15 2022-07-29 江西上堡茶叶有限公司 Agricultural butachlor bottle opener
CN115007473B (en) * 2022-05-30 2023-07-14 歌尔股份有限公司 Angle reversing mechanism and product testing equipment

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CN202411009U (en) * 2011-12-10 2012-09-05 山东明佳包装检测科技有限公司 Online detection device of container sealing performance
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Address after: 221000 No.2 Luoshan Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province

Patentee after: Saimo Intelligent Technology Group Co.,Ltd.

Address before: 221000 No.2 Luoshan Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province

Patentee before: SAIMO ELECTRIC Co.,Ltd.