CN109975304B - Automatic circulation full-automatic fault indicator assembly line detection system and method - Google Patents
Automatic circulation full-automatic fault indicator assembly line detection system and method Download PDFInfo
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The invention discloses a full-automatic fault indicator assembly line detection system and method capable of realizing automatic circulation, which comprises the following steps: the fault indicator detection pipeline includes: the fault indicator acquisition unit detects a pipeline body and the fault indicator collection unit detects the pipeline body; the intelligent warehousing system is used for realizing automatic storage, transportation and management and control of the fault indicator; the smart warehousing system comprises: automatic stereoscopic warehouse goods shelves and AGV carrying trolleys; the AGV carrying trolley automatically takes out the fault indicator to be detected from the automatic stereoscopic warehouse shelf and conveys the fault indicator to a fault indicator detection production line; and meanwhile, automatically transporting the detected fault indicator back to the automatic stereoscopic warehouse shelf and storing. The invention has the beneficial effects that: the requirement of the national grid operation inspection part on the full inspection of the arrival of the fault indicator can be met, and a strong support is provided for the series arrangement of the national grid company on strengthening the construction management of the power distribution network, the construction management work of the first-class power distribution network is comprehensively started, and the development quality and the efficiency benefit of the power distribution network are practically improved.
Description
Technical Field
The invention belongs to the technical field of intelligent detection of fault indicators, and particularly relates to an automatic circulation full-automatic fault indicator assembly line detection system and method.
Background
With the development of distribution network automation, various terminals of distribution automation are applied more and more. The fault indicator is used as a power distribution automation terminal, and has the advantages of more powerful functions, higher performance requirements and larger application scale. Due to the fact that the number of manufacturers of the fault indicators is large, the quality of the terminal, the adaptability of different field environments and the like have large uncertainty; the rapid and reliable detection is about to be applied to on-site fault indicator equipment, and has important significance for improving the construction quality of distribution line fault positioning projects and guaranteeing operation management.
As an area detection center, the Shandong electric academy of sciences has a huge number of terminals for detection every year, and the equipment is detected one by simply relying on manpower, so that the problems of lack of manual detection capability, insufficient detection personnel, low detection accuracy and incapability of unified management of detection information exist.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic circulation full-automatic fault indicator assembly line detection system and method, which rely on an advanced full-automatic detection assembly line technology to realize full-automatic transportation, feeding, detection, offline, storage and other full-process intelligent control of fault indicators, realize high-efficiency full-automatic detection under low-manual condition and meet the comprehensive requirements of the national grid operation and detection department on the detection quality and detection capability of power distribution terminals.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic-circulation fully-automatic fault indicator pipeline detection system, comprising:
fault indicator detection pipeline: the automatic detection device is used for realizing the automatic detection of the fault indicator acquisition unit and the collection unit;
the fault indicator detection pipeline includes: the fault indicator acquisition unit detects a pipeline body and the fault indicator collection unit detects the pipeline body;
the intelligent warehousing system is used for realizing automatic storage, transportation and management and control of the fault indicator;
the smart warehousing system comprises: automatic stereoscopic warehouse goods shelves and AGV carrying trolleys; the AGV carrying trolley automatically takes out the fault indicator to be detected from the automatic stereoscopic warehouse shelf and conveys the fault indicator to a fault indicator detection production line; and meanwhile, automatically transporting the detected fault indicator back to the automatic stereoscopic warehouse shelf and storing.
Further, the fault indicator acquisition unit detects the pipeline body and includes: the device comprises a feeding robot and a blanking robot which are used for respectively transporting the acquisition units into and out of the fault indicator acquisition unit detection pipeline body, and a buckle opening robot which is used for carrying out buckle opening operation on the acquisition units.
Furthermore, a buckle opening platform and a detection frame for detecting the acquisition unit are respectively arranged on the detection pipeline body of the fault indicator acquisition unit; the buckle opening robot carries out buckle opening operation on the acquisition unit on the buckle opening platform, and then the acquisition unit is placed into the detection frame for detection.
Further, the detection frame comprises: the device comprises a supporting structure, a current trend line fixed at the top end of the supporting structure and a camera fixed at the bottom end of the supporting structure and used for appearance inspection.
Furthermore, a secondary positioning device and a buckle opening device of the acquisition unit are respectively arranged on the buckle opening platform;
the open buckle device includes: the device comprises a fixed platform, a pneumatic slide rail and a buckle opening bracket;
the opening bayonet bracket comprises: a sliding bracket and a fixed bracket; one end of the sliding support is fixed on the fixed platform, and the other end of the sliding support is connected with the pneumatic sliding rail; two ends of the sliding support are respectively connected with a fixed support;
the pneumatic sliding rail drives one end of the sliding support connected with the pneumatic sliding rail to move left and right, and when the two ends of the sliding support are moved to be nearest, the fixed supports connected to the two ends of the sliding support are in butt joint.
Further, the clip opening robot comprises a clip opening clamp;
the opening bayonet clamp comprises: a collecting unit support port and a reverse finger clamp; two ends of the support opening of the acquisition unit are respectively connected with the reverse finger clamps; the reverse finger clamp is driven by an air cylinder;
the reverse finger clamp comprises: the first movable sliding block and the second movable sliding block are respectively fixed at two ends of a support opening of the acquisition unit, the first movable sliding block is fixed at one end of the finger cylinder, and the first movable sliding block is connected with a first anti-finger clamp through a first elbow;
the second movable sliding block is fixed at the other end of the finger cylinder and connected with a second anti-finger clamp through a second elbow.
Further, the fault indicator collection unit detecting a pipeline body includes: the conveying device is used for conveying the incoming material tray, and the conveying device is provided with a feeding positioning platform and a discharging positioning platform which are used for positioning the incoming material tray.
Furthermore, at least one set of fault indicators are placed on the incoming material tray, and each set of fault indicators comprises a gathering unit and three collecting units; the gathering unit and the collecting unit are respectively arranged.
Furthermore, a simulation illumination room is arranged on the fault indicator collecting unit detection production line body, and solar illumination can be simulated in the simulation illumination room and used for charging a solar cell panel of the collecting unit.
Furthermore, the outer wall of the simulated illumination room is made of lightproof organic oxidized glass, a halogen lamp is arranged in the simulated illumination room, and simulated sunlight is perpendicular to a direct incidence plane of the solar cell panel by 90 degrees for light supplement; the simulation light room is provided with a ventilation and heat dissipation system.
Further, still include: the robot ground rail, material loading robot, unloading robot and division buckle robot all along move on the robot ground rail.
Further, still include: an unqualified marking mechanism for marking an unqualified product; and the unqualified marking mechanism adopts an automatic labeling machine to label and identify the unqualified products.
Further, the smart warehousing system comprises: the automatic stereoscopic warehouse comprises an automatic stereoscopic warehouse shelf, an AGV carrying trolley and a bin storage device;
the bin storage device is arranged on the automatic stereoscopic warehouse shelf and comprises a tray and a material tray, and the material tray is detachably fixed on the tray.
Further, the smart warehousing system further comprises:
intelligent warehousing integrated management system:
the system is used for carrying out full intelligent management and control on detection tasks and realizing seamless combination control with a fault indicator detection production line;
the AGV trolley is remotely controlled, so that the bin position management of the automatic stereoscopic warehouse shelf is realized;
the detection information is comprehensively recorded and inquired, and the full-automatic management and allocation functions of the goods before the full-automatic detection of the assembly line detection are realized;
and recording factory parameter information and detection result information of the fault indicator terminal stored in each bin.
A full-automatic fault indicator assembly line detection method for automatic circulation comprises the following steps:
(1) the intelligent warehousing system automatically conveys the fault indicator acquisition unit and the collection unit which need to be detected to a fault indicator detection production line;
(2) the fault indicator detection pipeline is used for respectively and automatically detecting the acquisition unit and the collection unit;
automatically opening a buckle on a detection pipeline body of a fault indicator acquisition unit to automatically hang the acquisition unit on a detection frame, and automatically removing the acquisition unit from the detection frame after detection;
(3) after the detection is finished, the fault indicator collecting unit and the collecting unit of the fault indicator collecting unit detection pipeline body automatically convey the detected fault indicator collecting unit and the detected fault indicator collecting unit to a discharging position, the intelligent storage system automatically conveys the detected fault indicator collecting unit and the detected fault indicator collecting unit back to storage, and detection results and fault indicator terminal information are collected and stored.
Furthermore, the bayonet opening robot is provided with a bayonet opening clamp which grabs the acquisition unit and then moves to the middle of the two fixed supports, and the sliding support is moved to ensure that the fixed supports are connected into the electromagnetic ring of the acquisition unit in series; the opening-bayonet robot pulls down the acquisition unit, opens the buckle and the electromagnetic ring of the acquisition unit at the same time, and the first anti-finger clamp on the opening-bayonet clamp tightens the electromagnetic ring and the buckle and keeps an opening state, so that the opening-bayonet operation is completed.
Further, when a certain type of empty trays cannot meet the storage quantity requirement, the AGV trolley transports the empty trays to an automatic stereoscopic warehouse shelf, and the intelligent storage system automatically takes down the trays of other types to place the trays and transport the trays away; meanwhile, the tray loaded with the material trays of the required types runs to the automatic stereoscopic warehouse shelf, and the intelligent warehousing system automatically takes down the required material trays and places the required material trays to the corresponding positions of the automatic stereoscopic warehouse shelf.
The invention has the beneficial effects that:
the fault indicator detection assembly line can meet the requirement of a national grid operation and inspection department on the full inspection of the arrival of the fault indicators, and provides strong support for the national grid company on strengthening the serial deployment of the construction management of the power distribution network, starting the construction management work of the 'first-class power distribution network' comprehensively, improving the development quality and efficiency benefit of the power distribution network practically, and creating 'four best' and establishing 'one-strong three excellent' modern enterprises comprehensively in advance.
The invention is provided with a special robot clamp and a bayonet opening device, thereby realizing automatic hanging and detection of the acquisition unit. Set up simulation light room, to gathering unit solar energy light board simulation illumination and shine to the normal clear of supplementary electric quantity, convenient follow-up detection.
The intelligent warehousing system integrates the functions of intelligent storage and automatic conveying of the fault indicator acquisition unit and the collection unit into a whole, and realizes automatic storage, intelligent management and automatic conveying of the fault indicators.
The intelligent warehousing system is combined with the automatic detection assembly line, and the whole automation of the detection process is realized together. The intelligent storage platform has the functions of comprehensive material management, and also has the functions of dynamic inventory, storage position management, full life cycle management, detection task management and the like.
Following the national strategy of 2025 made in China, the intelligent production technology is utilized, the mode that an industrial robot is combined with a tooling assembly line is adopted, and a full-automatic power distribution terminal detection platform and a fault indicator detection platform are combined, so that full-automatic transportation, feeding, wire plugging, detection, offline, storage and other full-process intelligent management and control of various power distribution terminals are realized. Through the construction of intelligent storage, realize satisfying 7 on the premise of not needing artificial intervention 24 hours's full automated inspection in succession, realize the whole unmanned of testing process, satisfy current artifical not enough, detection quality and standard are high, the higher demand of testing capability.
Through the construction of a full-automatic detection assembly line, according to the working time of 8 hours every day, more than 120 sets of FTUs and 240 sets of fault indicators can be detected fully automatically every day; FTUs can be detected for more than 28000 sets and fault indicators are 56000 sets all the year round, and the overall requirements of a detection center of a power distribution automation terminal in Shandong province as an area detection center on detection capability and detection quality are met. According to the requirement of the detection task quantity, the working time can be adjusted to meet the requirement on the detection capability.
Drawings
FIG. 1 is a schematic diagram of an intelligent fully-automatic pipeline structure of the fault indicator of the present invention;
FIG. 2 is a schematic view of a feed tray according to the present invention;
FIG. 3 is a schematic view of a pipeline body for detecting a fault indicator collecting unit according to the present invention;
FIG. 4 is a schematic view of a simulated lighting room according to the present invention;
FIG. 5 is a schematic view of the clip opening platform;
FIG. 6 is a schematic structural view of a robot clamp provided on the buckle opening robot according to the present invention;
FIG. 7 is a schematic view of the structure of the detection frame of the acquisition unit of the present invention;
fig. 8 is a schematic view of the shelf structure of the automated stereoscopic warehouse of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
The invention discloses an automatic circulation full-automatic fault indicator assembly line detection system, which comprises:
fault indicator detection pipeline: the automatic detection device is used for realizing the automatic detection of the fault indicator acquisition unit and the collection unit;
the intelligent warehousing system: the fault indicator storage and transportation system is used for realizing automatic storage, transportation and management and control of the fault indicator;
the detection information comprehensive management and control system comprises: the method is used for monitoring the detection process of the fault indicator and storing, analyzing and displaying the detection data.
The fault indicator detection pipeline includes: the fault indicator acquisition unit detects a pipeline body and the fault indicator collection unit detects the pipeline body;
as shown in fig. 1, the fault indicator acquisition unit detects a streamlined body, including: the device comprises a feeding robot and a blanking robot which are used for respectively carrying the acquisition units in and out of the fault indicator acquisition units to detect the pipeline body, and a buckle opening robot which is used for carrying out buckle opening operation on the acquisition units.
In the embodiment of the invention, two ways of simultaneously working the pipeline bodies are adopted, so that the simultaneous detection of a plurality of sets of fault indicators can be realized, and the working efficiency is improved.
The fault indicator consists of two parts, namely a collecting unit and a collecting unit, so that a receiving tray is arranged, a plurality of sets of fault indicators can be placed in the receiving tray at the same time, and each set of fault indicator comprises one collecting unit and three collecting units; and the gathering unit and the acquisition unit matched with the gathering unit are respectively and correspondingly arranged.
As shown in fig. 2, the incoming material tray used in the embodiment of the present invention includes: the collecting units are arranged at the middle positions of the collecting units, the collecting units are arranged at the two end portions of the collecting units respectively, and the collecting units are arranged at the two end portions of the collecting units respectively.
The intelligent full-automatic assembly line system of fault indicator adopts roller line conveying, belt conveying, chain conveying or other forms of conveying to the supplied materials. In the embodiment of the present invention, the conveying is preferably performed in the form of a roller line.
As shown in fig. 3, a feeding positioning platform and a discharging positioning platform for positioning the incoming material tray are respectively arranged on the roller line body; a simulation illumination room is further arranged on the fault indicator collecting unit detection pipeline body, the structure of the simulation illumination room is shown in figure 4, the simulation illumination room can simulate solar illumination and can charge a solar cell panel of the collecting unit, and a light source has no special requirement.
The main body of the simulated illumination room is supported by an aluminum profile, black organic oxidized glass is adopted on the outer wall of the simulated illumination room, 4 high-power halogen lamps are matched to simulate sunlight to be perpendicular to a 90-degree direct projection surface of a solar panel for light supplement, and the stability of the illumination room is ensured by a ventilation and heat dissipation system in consideration of overhigh temperature caused by long-time illumination.
As shown in fig. 5, the fault indicator acquisition unit detects that the pipeline body is provided with a buckle opening positioning platform, and the buckle opening positioning platform is provided with a secondary positioning mechanism of a recording type fault recorder acquisition unit, a secondary positioning mechanism of an external application type fault recorder acquisition unit and a buckle opening device;
the opening buckle device comprises a pneumatic sliding rail and an opening buckle support. Open buckle support includes: a fixed bracket and a sliding bracket; one end of the sliding support is fixed on the fixed platform, and the other end of the sliding support is connected with the pneumatic sliding rail; two ends of the sliding bracket are respectively connected with the fixed bracket;
the pneumatic slide rail drives the sliding support one end connected with the pneumatic slide rail to move left and right, and when the pneumatic slide rail moves to the two ends of the sliding support to be nearest, the fixed supports connected to the two ends of the sliding support can be butted.
The fixed platform is fixedly connected with the pneumatic slide rail, the fixed support and the sliding support through screws. The sliding support and the sliding rail are in non-fixed connection, the sliding support can move smoothly on the sliding rail, and the sliding support is driven by power of the air cylinder.
The supplied materials tray conveys on the drum line body, fixes a position to material loading positioning platform department, and the collection unit is got to material loading robot clamp and is placed on opening buckle platform corresponding secondary positioning mechanism, and when opening the buckle, the sliding support moves to the platform rightmost side, and it installs on the buckle robot and opens the buckle anchor clamps, and it snatchs and moves to two fixed bolsters after the collection unit in the middle of, and pneumatic slide rail moves to the left side again and ensures that the fixed bolster is gone into in the collection unit electromagnetism ring. The robot pulls down the acquisition unit, opens the electromagnetic ring of the acquisition unit, and the spring on the clamp tensions the electromagnetic ring and keeps the open state. And opening the buckle of the acquisition unit in the same way, and keeping the opening state, thereby completing the opening of the buckle.
The invention designs the clamp of the bayonet opening robot specially, the structure of which is shown in figure 6, and the clamp comprises: a collecting unit support port and a reverse finger clamp; two ends of the support opening of the acquisition unit are respectively connected with the reverse finger clamps; the reverse finger clamp is driven by a cylinder.
The anti-finger anchor clamps include: the first movable sliding block and the second movable sliding block are respectively fixed at two ends of the support opening of the acquisition unit, the first movable sliding block is fixed at one end of the finger cylinder, and the first movable sliding block is connected with the first anti-finger clamp through a first elbow; the second moving sliding block is fixed at the other end of the finger cylinder and connected with a second anti-finger clamp through a second elbow.
When the buckle is opened, the first moving slide block and the second moving slide block move towards opposite directions under the driving of the finger cylinder, so that the first reverse finger clamp and the second reverse finger clamp are pulled apart by a certain space; the buckle of the acquisition unit of the fault recorder and the electromagnetic ring enter the space, the movable sliding block moves towards the inner side direction, and meanwhile, the first reverse finger clamp and the second reverse finger clamp buckle the two sides of the buckle and keep the two sides.
The fixture base connecting disc is used for realizing the integral assembly of all parts and realizing the connection with a robot mechanical arm. The finger cylinder is used for pushing and releasing the reverse finger clamp. The first reverse finger clamp is used for fixing and releasing the outer buckle of the acquisition unit and the inner buckle on one side, and the second reverse finger clamp is used for fixing and releasing the inner buckle on the other side. The acquisition unit support opening is used for fixing the acquisition unit so as to realize automatic opening of the buckle. Each part adopts the screw to carry out mechanical fixed connection. The working principle is as follows: the clamp clamps the adoption unit and then moves to the buckle opening support, so that the buckle penetrates through the fixing support and is pulled down to open the outer buckle, and the first reverse finger clamp fixes the outer buckle. And then the inner buckle is opened and fixed and kept by the same principle. The robot moves the clamp to the detection frame, and two reverse finger clamps are sequentially placed, so that the automatic hanging connection of the acquisition unit can be realized.
The structure of the detection frame is shown in fig. 7, and comprises: the device comprises a structural support, a test current trend line, an insulating protective sleeve and an appearance inspection camera;
the lowest ground clearance of the line segment of the acquisition unit hung on the detection frame coil is about 1700 mm. The frame structure adopts a steel structure form, and the structure is firm, reliable, stable and solid. The frame and the ground are fixed by adopting foundation bolts. The intensity of the detection frame is guaranteed not to shake in the process of loading and unloading actions of the robot, the coil fixing structure of the detection frame is stable and reliable, the intensity of materials on the outer side of the coil is high, and the detection frame can bear the frequent pulling stress (200N at most) of the acquisition unit. No other objects are arranged among the three coils, so that the interference with the motion track of the robot clamp is prevented. The power on and off of the detection equipment can be controlled, and the standby robot can be electrified and detected after completing all actions and returning to the safety position.
The detection equipment reserves a communication interface so as to communicate with a remote control center. In addition, the power on and off of the detection equipment can be controlled, and the standby robot can be electrified and detected after completing all actions and returning to the safety position.
Meanwhile, the incoming material tray and the loaded collection unit enter the fault indicator collection unit detection production line body together, a simulated illumination room is arranged on the fault indicator collection unit detection production line body, the fault indicator collection unit detection production line body conveys the tray into the simulated illumination room, and the simulated illumination of the collection unit solar illumination plate is performed so as to supplement electric quantity and facilitate normal subsequent detection. After the detection is finished, the tray is conveyed to the discharging positioning platform through the collecting unit assembly line, the incoming material tray is positioned, and the discharging robot is waited to place all detected products in the original position.
The intelligent full-automatic assembly line system of fault indicator has set up the ground rail of robot, realizes the horizontal migration of upper and lower unloading robot, division buckle robot, enlarges the working range of robot. Based on the above, the feeding robot and the blanking robot can be realized by one robot, and only in the detection process, the robot is controlled to move along the ground rail of the robot and move back and forth at the feeding and blanking positions.
The function of opening the buckle robot is to take out the collection unit from the supplied tray and place on opening the secondary positioning mechanism on the bayonet socket platform, carries out the position location of collection unit earlier to conveniently open the correct clamp of buckle anchor clamps and get, then realize opening the bayonet socket operation with opening the bayonet socket device cooperation, hang the collection unit on the coil of testing stand at last.
As a preferred embodiment, the periphery of the automatic production line adopts a grid type purse net. A safety door (used for the access of maintenance personnel during maintenance) of the assembly line is provided with a safety door lock, so that the personnel can be prevented from entering the system during operation.
The intelligent warehousing system comprises: the system comprises an automatic stereoscopic warehouse shelf, an AGV carrying trolley, a bin storage device and an intelligent warehousing comprehensive management system;
the automatic stereoscopic warehouse shelf is a combined beam shelf, as shown in fig. 8, the shelf has 320 positions of 4 rows, 20 columns and 4 layers, each position bears 350Kg, and the requirement of no less than 2000 terminal storages can be met; the whole design conforms to the JB/T9018-1999 rail roadway type high-rise shelf warehouse design specification, and has the characteristics of high strength, excellent stability and the like. The automatic stereoscopic warehouse shelf is used for storing equipment to be tested and tested equipment, positioning and automatic loading and conveying of the material discs are realized through the management system, and the automatic loading and unloading of goods can be realized by cooperation of the automatic stereoscopic warehouse shelf and the stacker.
Each bin is stored by an integrated tray. The storage equipment of each bin consists of a tray and a material tray. The tray is general, and the charging tray designs for different equipment alone. Each FTU charging tray can store 9 cover FTUs and 6 box FTUs; each fault indicator tray can store 6 sets of fault indicators; each DTU (less than 1 meter) tray can store one set of DTU.
Only one type of terminal is placed in one material tray; identifying through a two-dimensional code on the material tray; during detection, the stacker automatically acquires a material tray which needs to be detected at present and transmits the material tray to a region to be detected; automatically placing the empty disc to the tested area; and the material tray is automatically conveyed.
Wherein, the structure of fault indicator charging tray is the same as that of incoming material tray.
The AGV trolley uses the AGV to carry the robot equipment and is used for warehousing and ex-warehouse of various terminals, terminal transportation of detection flows and the like. The AGV trolley adopts a magnetic navigation mode, and a magnetic navigation track and a parking positioning IC card are pasted on the ground, and the AGV trolley has obstacle sensing capability and prevents collision.
4 AGV trolleys are arranged in the detection center to realize the circulation of the detected products in each area, the trolleys adopt L900xW360xH365mm compact type machine bodies, the maximum load capacity is 200Kg, the stopping precision is within +/-30 mm, the minimum turning radius is 500mm, and the continuous work of one-time charging can be carried out for 6 hours.
The intelligent warehousing comprehensive management system has the following implementation functions:
and carrying out intelligent warehousing management. And carrying out full intelligent control on detection and detection tasks of the to-be-detected object, carrying out seamless combination control on the to-be-detected object and a production line, and carrying out business interaction on the to-be-detected object and power distribution detection laboratory information.
Realize the remote control of AGV dolly, realize the position in a warehouse management of goods shelves. The comprehensive recording and query of the detection information are realized, and the full-automatic management and allocation functions of the goods before the full-automatic detection of the assembly line detection are realized.
Recording information of the terminal stored in each bin includes: manufacturer, batch, whether detection is needed, detection result, detection process information, terminal number, target customer, delivery plan and the like. And the whole process management and control of the related information are realized.
The tray adopts general tray, links up with the vertical warehouse as the splendid attire, and the charging tray is customized according to the product size, and the charging tray is bound with the tray one by one, and various charging trays are more than 300 sets. And a task of replacing the tray is issued through the comprehensive management and control system, and the automatic replacement of the tray is realized by using an intelligent machine.
The process flow of the automatic circulation full-automatic fault indicator assembly line detection system mainly comprises the following steps:
the AGV dolly transports the tray that fills up fault indicator in will storehouse and puts in place, and the robot places fault indicator (1 tray places 4 sets of fault indicator) in the tray on the cylinder line body according to appointed angle through vision system, and the tray moves to cylinder line material loading location department.
The material loading robot corrects the angle and the position of the acquisition unit through the vision system, and then grabs the acquisition unit to place the secondary positioning part of the buckle platform.
The buckle opening robot grabs the acquisition unit on the buckle opening platform, then mutually cooperates with the buckle opening device on the buckle opening platform, the buckle of the acquisition unit is completely opened and is kept, the buckle opening robot places the acquisition unit on the detection frame coil, the spring buckle retaining mechanism returns, and the acquisition unit is completely hung on the coil.
And circulating the above actions until all the collecting units on the material tray are placed on the detection rack coil.
And the assembly line of the collecting unit conveys the incoming material tray of the collecting unit to the simulated illumination room for light supplementing and charging.
And when all the robots move back to the safe area, the detection platform starts to carry out batch full-automatic detection on the fault indicators.
After the detection is finished, the assembly line of the collecting unit conveys the tray to the blanking positioning position of the assembly line, the robot utilizes the clamp to clamp the acquisition unit to pull down according to the detection result of the detection equipment, the acquisition unit can be taken down from the detection frame, meanwhile, the qualified product is directly placed to the original position, and the unqualified product is labeled and marked and then is placed back to the original position. The mechanical structure and the operation sequence of the robot ensure that the acquisition unit is placed back to the original position of the material tray according to the sequence during grabbing, so that the acquisition unit is matched with the collection unit.
Automatically conveying the detected fault indicator acquisition units and the collection units to an automatic stereoscopic warehouse shelf by the AGV trolley, and acquiring and storing detection results and fault indicator terminal information;
in the detection process, monitoring the detection result in real time, and collecting detection information data for storage and analysis;
and after the detection is finished, the system automatically generates a test report according to the detection result. The test report supports format customization, supports manual input for a part needing manual participation, and automatically generates a report to support manual arrangement and adjustment. Reports may be saved to word documents or databases and provide query functionality for historical queries or data comparisons.
When a new power distribution terminal or a fault indicator needs to enter a factory for detection and a certain type of empty material tray does not meet the requirement of the quantity to be stored currently, the material tray needs to be fully automatically reloaded.
When the tray is replaced, the warehousing system firstly conveys the empty tray of the tray to be replaced to the robot, and the robot takes down the tray and places the tray on the tray rack. The robot fixes the charging tray to be replaced on the empty tray, the warehousing system transports the charging tray back to the original bin position, and automatic replacement of other charging trays is realized according to the number of the trays to be replaced.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (15)
1. An automatic-circulation full-automatic fault indicator assembly line detection system, comprising:
fault indicator detection pipeline: the automatic detection device is used for realizing the automatic detection of the fault indicator acquisition unit and the collection unit;
the fault indicator detection pipeline includes: the fault indicator acquisition unit detects a pipeline body and the fault indicator collection unit detects the pipeline body;
the fault indicator acquisition unit detects the assembly line body and includes: the feeding robot and the blanking robot are used for respectively transporting the acquisition units into and out of the fault indicator acquisition unit to detect the pipeline body, and the buckle opening robot is used for carrying out buckle opening operation on the acquisition units;
the buckle opening robot comprises a buckle opening clamp; the clip opening clamp comprises: the device comprises an acquisition unit support opening and a reverse finger clamp, wherein two ends of the acquisition unit support opening are respectively connected with the reverse finger clamp; the first movable sliding block is fixed at one end of the finger cylinder and is connected with the first reverse finger clamp through a first elbow; the second movable sliding block is fixed at the other end of the finger cylinder and is connected with a second anti-finger clamp through a second elbow;
the intelligent warehousing system is used for realizing automatic storage, transportation and management and control of the fault indicator;
the smart warehousing system comprises: automatic stereoscopic warehouse goods shelves and AGV carrying trolleys; the AGV carrying trolley automatically takes out the fault indicator to be detected from the automatic stereoscopic warehouse shelf and conveys the fault indicator to a fault indicator detection production line; and meanwhile, automatically transporting the detected fault indicator back to the automatic stereoscopic warehouse shelf and storing.
2. The automatic-circulation full-automatic fault indicator assembly line detection system of claim 1, wherein a snap-on platform and a detection frame for detecting the acquisition unit are respectively arranged on a detection assembly line body of the fault indicator acquisition unit; the buckle opening robot carries out buckle opening operation on the acquisition unit on the buckle opening platform, and then the acquisition unit is placed into the detection frame for detection.
3. The automated flow full-automatic fault indicator pipeline inspection system of claim 2, wherein the inspection rack comprises: the device comprises a supporting structure, a current trend line fixed at the top end of the supporting structure and a camera fixed at the bottom end of the supporting structure and used for appearance inspection.
4. The automatic-circulation full-automatic fault indicator assembly line detection system of claim 2, wherein the buckle opening platform is provided with a secondary acquisition unit positioning device and a buckle opening device respectively;
the open buckle device includes: the device comprises a fixed platform, a pneumatic slide rail and a buckle opening bracket;
the buckle opening bracket comprises: a sliding bracket and a fixed bracket; one end of the sliding support is fixed on the fixed platform, and the other end of the sliding support is connected with the pneumatic sliding rail; the other two ends of the sliding support are respectively connected with a fixed support;
the pneumatic sliding rail drives one end of the sliding support connected with the pneumatic sliding rail to move left and right, and when the two ends of the sliding support are moved to be nearest, the fixed supports connected to the two ends of the sliding support are in butt joint.
5. The auto-circulating fully-automatic fault indicator pipeline detection system of claim 1, wherein the fault indicator collection unit detecting a pipeline body comprises: the conveying device is used for conveying the incoming material tray, and the conveying device is provided with a feeding positioning platform and a discharging positioning platform which are used for positioning the incoming material tray.
6. The automatic-circulation full-automatic fault indicator assembly line detection system as claimed in claim 5, wherein the incoming tray is provided with at least one set of fault indicators, each set of fault indicators comprises a convergence unit and three acquisition units; the gathering unit and the collecting unit are respectively arranged.
7. The system of claim 1, wherein the fault indicator collection unit is configured with a simulated lighting room on the detection pipeline, and the simulated lighting room is configured to simulate solar lighting for charging a solar panel of the collection unit.
8. The automatic-circulation full-automatic fault indicator assembly line detection system of claim 7, wherein the outer wall of the simulated lighting room is made of lightproof organic oxidized glass, a halogen lamp is arranged in the simulated lighting room, and simulated sunlight is perpendicular to a 90-degree direct incidence plane of the solar cell panel for light supplement; the simulation light room is provided with a ventilation and heat dissipation system.
9. The automatic flow full-automatic fault indicator pipeline detection system of claim 1, further comprising: the robot ground rail, material loading robot, unloading robot and division buckle robot all along move on the robot ground rail.
10. The automatic flow full-automatic fault indicator pipeline detection system of claim 1, further comprising: an unqualified marking mechanism for marking an unqualified product; and the unqualified marking mechanism adopts an automatic labeling machine to label and identify the unqualified products.
11. The automated flow-through fully-automated fault indicator pipeline detection system of claim 1, wherein the smart warehousing system comprises: the automatic stereoscopic warehouse comprises an automatic stereoscopic warehouse shelf, an AGV carrying trolley and a bin storage device;
the bin storage device is arranged on the automatic stereoscopic warehouse shelf and comprises a tray and a material tray, and the material tray is detachably fixed on the tray.
12. The automated flow-through fully-automated fault indicator pipeline detection system of claim 11, wherein the smart warehousing system further comprises:
intelligent warehousing integrated management system:
the system is used for carrying out full intelligent management and control on detection tasks and realizing seamless combination control with a fault indicator detection production line;
the AGV trolley is remotely controlled, so that the bin position management of the automatic stereoscopic warehouse shelf is realized;
the detection information is comprehensively recorded and inquired, and the full-automatic management and allocation functions of the goods before the full-automatic detection of the assembly line detection are realized;
and recording factory parameter information and detection result information of the fault indicator terminal stored in each bin.
13. The detection method of the automatic circulation full-automatic fault indicator pipeline detection system is characterized by comprising the following steps:
(1) the intelligent warehousing system automatically conveys the fault indicator acquisition unit and the collection unit which need to be detected to a fault indicator detection production line;
(2) the fault indicator detection pipeline is used for respectively and automatically detecting the acquisition unit and the collection unit;
automatically opening the buckle on the acquisition unit of the fault indicator on the detection pipeline body of the acquisition unit,
the acquisition unit is automatically hung on the detection frame, and the acquisition unit is automatically removed from the detection frame after detection is finished;
(3) after the detection is finished, the fault indicator collecting unit and the collecting unit of the fault indicator collecting unit detection pipeline body automatically convey the detected fault indicator collecting unit and the detected fault indicator collecting unit to a discharging position, the intelligent storage system automatically conveys the detected fault indicator collecting unit and the detected fault indicator collecting unit back to storage, and detection results and fault indicator terminal information are collected and stored.
14. The detection method of the automatic-circulation full-automatic fault indicator assembly line detection system according to claim 13, wherein the clip opening robot is provided with a clip opening clamp which grabs the acquisition unit and then moves to the middle of two fixed brackets, and moves the sliding bracket to ensure that the fixed brackets are connected into the electromagnetic ring of the acquisition unit; the buckle opening robot pulls down the acquisition unit, opens the buckle and the electromagnetic ring of the acquisition unit at the same time, and the first anti-finger clamp on the buckle opening clamp tensions the electromagnetic ring and the buckle and keeps an opening state, so that the buckle opening operation is completed.
15. The detection method of the automatic-circulation full-automatic fault indicator assembly line detection system according to claim 13, wherein when a certain type of empty trays cannot meet the storage quantity requirement, the AGV trolley transports the empty trays to an automatic stereoscopic warehouse shelf, and the intelligent warehousing system automatically takes down the trays of other types to place the trays and transports the trays; meanwhile, the tray loaded with the material trays of the required types runs to the automatic stereoscopic warehouse shelf, and the intelligent warehousing system automatically takes down the required material trays and places the required material trays to the corresponding positions of the automatic stereoscopic warehouse shelf.
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| CN113008304B (en) * | 2021-03-01 | 2023-12-22 | 甘肃旭康材料科技有限公司 | Quality detection method and system for test sample |
| CN113466773A (en) * | 2021-07-09 | 2021-10-01 | 国网安徽省电力有限公司电力科学研究院 | Detection system and detection method for fusion terminal and fault indicator |
| CN113533902A (en) * | 2021-07-09 | 2021-10-22 | 国网安徽省电力有限公司电力科学研究院 | Fault indicator detection line |
| CN116087322B (en) * | 2023-04-10 | 2023-06-13 | 莱州新忠耀机械有限公司 | Magnetic powder inspection method and auxiliary tool for low-temperature traction transmission box body of high-speed railway vehicle |
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