CN112917248B

CN112917248B - Flexible processing production line of retarber

Info

Publication number: CN112917248B
Application number: CN202110146972.1A
Authority: CN
Inventors: 李志博; 董德; 梁启元; 宋明安; 马文平; 麻辉
Original assignee: Ningxia Juneng Robot Co Ltd
Current assignee: Ningxia Juneng Robot Co Ltd
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2022-06-28
Anticipated expiration: 2041-02-03
Also published as: CN112917248A

Abstract

The invention provides a flexible processing production line for a retarder, which comprises a processing line (1) and an automatic line (2), wherein the processing line (1) comprises discontinuous processing devices and auxiliary devices which are linearly arranged, the automatic line (2) is used for carrying processed parts among the devices of the processing line (1), and the processing line (1) and the automatic line (2) are parallel and independent to each other. According to the flexible processing production line for the retarder, the processing line and the automatic line are arranged separately, when a new working procedure needs to be added in the flexible line or the capacity needs to be expanded, only corresponding machine tools need to be added in the processing line, the processing line keeps the original state, and the updating cost of the automatic flexible line is greatly reduced.

Description

Flexible processing production line of retarber

Technical Field

The invention relates to the field of automation, in particular to a flexible processing production line for a retarder.

Background

Flexible manufacturing modes are in fact widespread, such as customization, which is consumer-oriented, in a manner that requires customized production, as opposed to traditional mass production modes. In flexible manufacturing, the reaction rates of the production line and the supply chain are examined. The creation of the models such as "C2B", "C2P 2B" in the field of electronic commerce represents the essence of flexible manufacturing. The first aspect is the capability of the system to adapt to the change of the external environment, which can be measured by the degree of the system meeting the requirements of new products; the second aspect is the ability of the system to adapt to internal changes, as measured by the ratio of the system's productivity in the presence of disturbances (e.g., machine failure) to the expected productivity without disturbances. "flexible" is in contrast to "rigid", which is the principle practice in conventional "rigid" automated production lines for mass production of a single variety.

The existing flexible line is mostly in modular design and assembly of a machine tool, feeding and discharging of the flexible line need to be arranged in a penetrating mode after transportation and device modularization, when a production line is updated, all transportation and production equipment need to be rearranged, and time cost and labor cost of workers are high.

There is a need for a flexible processing line that can solve the above problems.

Disclosure of Invention

The invention provides a flexible processing production line of a retarder, aiming at solving the problems that the existing flexible line is mostly modularized designed and assembled by a machine tool, the feeding and discharging of the flexible line are required to be arranged in an inserting way after the transportation and device is modularized, when a processing line is updated, all transportation and production equipment are required to be rearranged, the time cost and the labor cost of workers are higher, the flexible processing production line of the retarder is provided, through the separation arrangement of the processing line and an automatic line, when a new process is required to be supplemented or the productivity is required to be enlarged in the flexible line, only a corresponding machine tool needs to be added in the processing line, the processing line keeps the original state, the updating cost of the automatic flexible line is greatly reduced, and the problems are solved.

The invention provides a retarder flexible processing production line which comprises a processing line and an automatic line, wherein the processing line comprises processing devices and auxiliary devices which are in discontinuous linear arrangement, the automatic line is used for carrying processed parts among the devices of the processing line, the automatic line is used for material transportation in the processing line, and the processing line and the automatic line are mutually independent; the automatic line includes a plurality of AGV dollies, the stack unit, the unit of breaking a jam, crossbeam unit and gripper unit, the unit of breaking a jam sets up in the processing line material loading end, the stack unit sets up in the processing line unloading end, the crossbeam unit sets up in the processing line top along the processing line, the gripper unit activity sets up on the crossbeam unit, the AGV dolly sets up at stack unit front end and the unit rear end of breaking a jam, the AGV dolly is used for carrying the material frame of dress work piece to the material end and receiving the material frame that the unloading end was carried out, the unit of breaking a jam is used for with the work piece of AGV dolly transportation on the material loading end is broken a jam and is sent into crossbeam unit functional area, the stack unit carries out the pile up neatly work piece of unloading end and sends out crossbeam unit functional area, gripper unit removes the transport work piece on the processing line through crossbeam unit.

The processing line and the automatic line are separately arranged, when a new working procedure needs to be added in the flexible line or the capacity needs to be enlarged, only corresponding machine tools need to be added in the processing line, and the processing line keeps the original state, so that the updating cost of the automatic flexible line is greatly reduced.

As an optimal mode, the processing line comprises a plurality of process groups, and each process group comprises at least one processing machine tool.

As a preferred mode, the beam unit comprises a beam body, a first vertical beam and a second vertical beam, the first vertical beam and the second vertical beam are respectively perpendicular to the beam body and are arranged at two ends of the beam body, the free end of the first vertical beam is arranged at the output end of the unstacking unit, the free end of the second vertical beam is arranged at the tail end of the processing line, and the clamping jaw unit moves along the first vertical beam, the second vertical beam and the beam body.

The vertical beam is driven by a motor and driven by a gear rack to move up and down, so that the workpiece is driven to move up and down.

As a preferable mode, the clamping jaw unit comprises a clamping jaw body and a floating module unit, the floating module unit is movably arranged on the first vertical beam and detachably connected with the clamping jaw body, the clamping jaw body is used for carrying a workpiece, and the floating module unit is used for adjusting the position of the X, Y shaft of the clamping jaw body in a small amplitude manner to compensate for inaccurate point position.

The clamping jaw body is installed and is used for snatching the work piece on truss erects the roof beam, is provided with different work pieces of quick die change and carries out compatibly through changing the hand claw, and hand claw both sides have rotatory cylinder shell to realize that the work piece satisfies the work piece gesture and require the processing position 180 degrees rotations in the claw.

Under normal conditions, when the paw is opened, the paw is loosened to the right position and the cylinder is stretched to the right position, the proximity switch and the cylinder can be simultaneously detected, when a signal is not sent, the joint bearing is judged to fall off, and an alarm is given; when the paw grasps the workpiece, the paw releases the in-place proximity switch sensor to send a signal, and the two proximity switches simultaneously detect the existence of materials, which indicates that the workpiece is normal; when the gripper is in idle gripping, the two pieces are detected to be material-free, the proximity switch is used for detecting material-free, the detection is carried out until the cylinder extends out in place, namely the gripper is in idle gripping detection, and meanwhile, the gripper is over-stroke, namely the gripper cannot be detected; in addition, it should be noted that when the gripper is in the operation of the belt, including the turning action of the workpiece, the material existence detection of the gripper is always in a material existence state, otherwise, the gripper is regarded as a falling piece, and at the moment, the alarm processing is required.

As a preferred mode, the automatic line further comprises a hand-holding warehouse and a transfer table, wherein the hand-holding warehouse is arranged below the free end of the first vertical beam and used for storing a replaced hand claw, and the transfer table is arranged below the free end of the first vertical beam and used for butting the unstacking unit and the clamping jaw unit to transfer workpieces.

The transfer station is used for butting the unstacking robot and the truss manipulator, the unstacking robot puts workpieces on the mechanism, the manipulator grabs the workpieces, the mechanism is provided with a material-free detection sensor and a tray type identification sensor, and different workpieces correspond to different trays.

The processing line also comprises a marking and code scanning unit and a visual camera shooting table unit, wherein the visual camera shooting table unit is arranged at the inlet end of the marking and code scanning unit and used for identifying the types of workpieces, visually aligning the grabbing positions, judging the front and back of the workpieces and reading the confidence of a material frame chip after the workpieces are disassembled at the feeding end through a unstacking unit, and the marking and code scanning unit is arranged at one side of the unstacking unit and used for marking and code scanning the workpieces.

The invention relates to a flexible processing production line for a retarder, which is a preferable mode, and the processing line further comprises an air-blowing cleaning unit arranged at the tail end of each process group, a spot check unit arranged at the tail end of the air-blowing cleaning unit and a machining NG (natural gas) channel arranged at the tail end of the air-blowing cleaning unit, wherein the air-blowing cleaning unit is used for cleaning a positioning surface and a pin hole of a next-order workpiece to prevent scrap iron from scratching or crushing the workpiece, the spot check unit is used for performing spot check on different processes, and the machining NG channel is used for transferring and sweeping the NG workpiece.

The AGV trolley conveys a material frame with a workpiece to a material channel, the unstacking robot moves to a visual table from a grabbing frame (with the workpiece) of the material channel, the visual table performs workpiece type identification and positive and negative identification, then the inspection robot grabs the workpiece to mark and sweep codes, then the workpiece is transferred to a truss material transferring table to wait for a truss manipulator to carry the workpiece, and the robot continues the process after the workpiece is carried, and the process is circulated in sequence; the truss manipulator grabs the workpiece from the material transferring platform, sequentially reloads the workpiece for a machining procedure, and finally puts the workpiece on the butt joint discharging channel; the stacking robot grabs the workpiece from the butt joint discharging channel to change materials for the flaw detection mechanism, then sweeps the workpiece to be placed in the material frame on the visual platform, grabs the material frame and places the material frame on the discharging channel, the discharging channel transports the material frame to the terminal AGV trolley, and the robot continues the actions to enter circulation.

As a preferred mode, the flexible retarder processing production line further comprises a cleaning device, a leakage test detection device and a flaw detection device, wherein the cleaning device, the leakage test detection device and the flaw detection device are sequentially connected, the cleaning device is arranged at the tail ends of the automatic line and the processing line, and the cleaning device is used for deburring, cleaning, drying and controlling temperature of workpieces.

The flaw detection device comprises a carrying device and a detection frame, the detection frame is arranged on one side of the carrying device, and the functional area of the detection frame can move 360 degrees relative to the surface and the inner wall of a workpiece clamped by the carrying device in a surrounding mode. The carrying device comprises a frame body, a conveying device, an automatic door and a lifting paw mechanism, the conveying device is arranged on one side of the bottom of the frame body, the frame body is of a door type structure, the automatic door is arranged in the middle of the frame body, the inlet end of the conveying device is connected with the automatic door, the upper surface of the conveying device can rotate 180 degrees horizontally, the lifting paw mechanism is arranged right above the conveying device, the lifting paw mechanism is vertically movably arranged on the side face of the frame body, the conveying device is of a double-station structure, station symmetry is arranged on two sides of a rotating shaft of the conveying device, and when the direction of the conveying device is perpendicular to the frame body, a station of the conveying device is arranged on the outer side of the automatic door. The two ends of the conveying device are used for placing workpieces. And the lifting paw mechanism is used for grabbing workpieces at two ends of the conveying device. One paw of the lifting mechanism can be compatible with 3 parts of the retarder shell and the retarder cover, the retarder can be produced in a mixed line mode, the paw is stable in clamping and cannot drop parts, and the parts cannot be clamped due to proper force; and meanwhile, a quick-change interface is reserved, and a quick-change paw can be added in the later period, so that the device is convenient and quick. The detection frame comprises a photographing device, a joint robot and a gantry fixing base, one end of the joint robot is arranged at the top of the gantry fixing base, the other end of the joint robot is connected with the top of the photographing device, and the photographing device and the joint robot have horizontal rotational freedom.

The device is placed in a sealed house, an automatic door is arranged at an external material taking port, the two-station rotary conveying mechanism can rotate 180 degrees, and when an external part to be detected is sent into the detection unit, the detected part is also sent out of the unit; the robot is hung upside down on the fixed gantry base, and can detect 5 surfaces of the parts on the tray; the part can be lifted by lifting the paw to expose the bottom surface, and the robot can detect the bottom surface at the moment.

The invention relates to a flexible processing production line of a retarder, which is a preferable mode, a photographing device comprises a connecting flange, a planar photographing device, a planar light source, a photographing device main body, a roof light source, a fisheye photographing device, a strip light source and a macroporous photographing device, wherein the photographing device main body is of a columnar structure, the connecting flange is arranged at the top end of the photographing device main body, the planar light source is arranged at one side of the photographing device main body, the planar light source is a plate-shaped light source, a through hole is formed in the middle of the planar light source, the tail end of the planar photographing device is connected with the photographing device main body, the lens end of the planar photographing device is arranged in the through hole of the planar light source, the roof light source is arranged on the side surface of the photographing device main body, the roof light source is an annular light source, the tail end of the fisheye photographing device is arranged on the side surface of the photographing device main body, and the lens end of the fisheye photographing device is arranged in the inner diameter of the roof light source, the strip light source activity sets up in the device main part bottom of shooing, and the strip light source has 180 degrees rotational degrees of freedom downwards on the vertical plane, and the macropore device activity of shooing sets up in the device main part bottom of shooing, and the macropore device of shooing has 180 degrees rotational degrees of freedom downwards on the vertical plane.

For the plane position, plane opening backlight irradiation is adopted, a plane photographing device extends out of a light source hole, and flaw characteristics such as scratch, sand eye and defect of a part can be clearly displayed through photographing;

for the inner wall position of the deep hole of the part, a roof light source is adopted for irradiation, the inner wall can be covered at each position, meanwhile, a fisheye lens is arranged on a photographing device and extends into the hole for photographing, and the flaw characteristic on a wall surface area of 360 degrees can be clearly displayed;

to part crater inner wall position, the fish eye device of shooing will unable compatible inner wall such major diameter, need adopt the plane device of shooing to shoot, shine through the strip light source, light the wall, then the plane device of shooing is certain angle and shoots, because the device centre of gyration of shooing is coaxial with part crater, the robot only needs to rotate 6 th axle, can realize the fast rotation and shoot.

As an optimal mode, the plane where the fisheye photographing device is located and the plane where the plane photographing device is located are perpendicular to each other.

According to the flexible processing production line for the retarder, which is disclosed by the invention, as a preferable mode, the two side faces between the carrying device and the detection frame are provided with the sealing partition plates, and the sealing partition plates are provided with the windows.

As an optimal mode, the flexible processing production line for the retarder is characterized in that a joint robot is a six-axis manipulator.

When a part needs to be detected outside, the two-station rotary conveying mechanism rotates 180 degrees, the external part is sent into the detection unit, and meanwhile, the automatic door is closed; after the robot takes the photographing mechanism to photograph and detect 5 surfaces of the part, the robot adjusts the posture, the six shafts face downwards and rotate for 360 degrees, the large-hole photographing device rotates around the inner wall, then the gripper mechanism is lifted to lift the part, the robot takes the photographing mechanism to detect the bottom surface of the part again, then the robot adjusts the posture, and the fisheye photographing device is inserted into each deep hole of the bottom surface to be detected; after the detection is finished, the lifting paw mechanism drops the part back to the tray.

The invention relates to a retarder flexible processing production line, and a defect detection device detection method comprises the following steps:

s1, preparing detection;

s2, feeding by a conveying device;

s3, driving a photographing device to photograph and detect the 5 surfaces of the part by the joint robot;

s4, adjusting the posture of the joint robot, and enabling the six axes to face downwards;

s5, rotating the six shafts, and rotating the large-hole photographing device for 360 degrees around the inner wall to perform photographing detection;

S6, lifting the part by the lifting paw mechanism;

s7, driving a photographing device to detect the bottom surface of the part by the joint robot;

s8, adjusting the posture by using a joint robot, and inserting the fisheye photographing device into each deep hole on the bottom surface for detection;

s9, the part is dropped back to the tray by the lifting paw mechanism;

s10, blanking the part according to the detection result, and if the part is qualified, transmitting the part to a qualified product area; if the part is unqualified, conveying the part to an unqualified product area;

s11, judging whether parts to be detected still exist, and if the parts to be detected still exist, repeating the steps S2-S11; otherwise, performing step S12;

and S12, finishing detection.

Positioning compensation algorithm: due to the influences caused by mechanical manufacturing errors, repeated positioning errors of a robot, expansion with heat and contraction with cold and the like, the spatial positions of the parts photographed at each time are different, the centers of the parts are found through a visual template matching algorithm, the standard search area is compensated to the existing search area, and the misjudgment rate caused by the characteristic boundary of the parts is reduced;

and (3) a spot searching algorithm: when the smooth part is dirty, a black point is generated in the image, the image can carry out iterative operation on 9 positions around each pixel point, when the image is dirty, the iterative value of the pixel point exceeds a threshold value, and the software can judge that the position is dirty;

Smoothness detection algorithm: when burrs exist on the periphery of a part, the periphery of the part becomes 'hairy grass', the part appears very unsmooth, a peripheral path is set on a standard part, after the image is binarized, iterative operation is carried out on the distance between each path and a pixel point, when burrs exist on a certain path, the iterative value exceeds a threshold value, and therefore it is judged that burrs exist at the position.

As an optimal mode, the step S1 of the detection method of the flaw detection device specifically comprises the following steps:

s101, determining the type, the attribute, compatible parts and the detection part of a detection part;

s102, carrying out visual detection on each detection part, and determining the photographing distance, the technical requirement, the light source model and the lens model of the photographing device of each part;

s103, deep learning is carried out on visual detection through a positioning compensation algorithm, a spot searching algorithm and a smoothness detection algorithm;

s104, counting the reliability of all detection positions, and eliminating parts which do not meet the requirements;

and S105, checking the beat, the cost and the quantization standard required by detection, and determining a final detection scheme.

As an optimal mode, the step S2 of the detection method of the flaw detection device specifically comprises the following steps:

S201, a conveying device is perpendicular to a door frame, and a station on one side of the conveying device is located on the outer side of an automatic door and is connected with a feeding direction;

s202, feeding on a station at the outer side of the automatic door by a conveying device;

s203, opening the automatic door, and rotating the conveying device by 180 degrees;

and S204, closing the automatic door.

As an optimal mode, when the defect detection device detection method step S3 is used for carrying out surface photographing detection, the retarder flexible processing production line specifically adopts a planar light source to carry out planar hole opening backlight irradiation, and a planar photographing device is used for photographing detection.

As a preferred mode, when the defect detection device detection method step S3 photographs and detects the inner wall of the crater, the retarder flexible processing production line specifically irradiates light through a strip-shaped light source to illuminate the wall surface, the rotation center of the photographing device is coaxial with the crater of the part, the joint robot rotates the 6 th shaft, and a plane photographing device is adopted to photograph.

As an optimal mode, the defect detection device detection method step S8 of the retarder flexible processing production line is to adopt a roof light source to irradiate the deep hole and extend a fisheye lens into the hole to take a picture.

The invention has the following beneficial effects:

(1) the processing line and the automatic line are separately arranged, when a new working procedure needs to be supplemented or the capacity needs to be expanded in the flexible line, only corresponding machine tools need to be added in the processing line, and the processing line keeps the original state, so that the updating cost of the automatic flexible line is greatly reduced;

(2) the flaw detection device is compact in overall mechanism, greatly improved in efficiency and high in accuracy;

(3) the flexibility degree of the flaw detection device unit is high, and debugging is convenient;

(4) the flaw detection device mechanical mechanism avoids mechanical interference and can quickly reach a detection position;

(5) the defect detection device has strong expansibility, and does not need to be modified by too much action if varieties need to be added;

(6) the flaw detection device is modularized, and for a newly added detection part, the original algorithm can be directly called, and partial parameters can be modified;

(7) the sensitivity of the flaw detection device can be adjusted, when the sensitivity is too high, the over-detection condition can occur, the sensitivity is too low, and the detection is possible to miss, so that the algorithm parameters are opened, and a user can adjust the sensitivity according to the requirement;

(8) the clamping jaw body is installed and is used for snatching the work piece on truss erects the roof beam, is provided with different work pieces of quick die change and carries out compatibly through changing the hand claw, and hand claw both sides have rotatory cylinder shell to realize that the work piece satisfies the work piece gesture and require the processing position 180 degrees rotations in the claw.

Drawings

FIG. 1 is a schematic view of a flexible processing production line of a retarder;

FIG. 2 is a schematic view of an automatic line of a retarder flexible processing production line;

FIG. 3 is a schematic view of a processing line of a retarder flexible processing line;

FIG. 4 is a schematic view of a beam unit of a flexible processing production line of a retarder;

FIG. 5 is a schematic view of a clamping jaw unit of a flexible processing production line of a retarder;

FIG. 6 is a schematic view of a defect detection apparatus of a retarder flexible processing production line;

FIG. 7 is a schematic view of a carrying device of a retarder flexible processing production line;

FIG. 8 is a schematic view of a retarder flexible processing production line detection frame;

FIG. 9 is a schematic view of a photographing device of a retarder flexible processing production line.

Reference numerals:

1. processing lines; 11. a process group; 12. marking and code scanning units; 13. a vision camera stage unit; 14. an air-blowing cleaning unit; 15. a sampling unit; 16. mechanically adding an NG material channel; 2. automatic line production; 21. an AGV trolley; 22. a stacking unit; 23. a destacking unit; 24. a beam unit; 241. a beam body; 242. a first vertical beam; 243. a second vertical beam; 25. a jaw unit; 251. a jaw body; 252. a floating module unit; 26. a hand-grasping warehouse; 27. a transfer table; 3. a cleaning device; 4. a leak test detection device; 5. a flaw detection device; 51. a carrying device; 511. a frame body; 512. a conveying device; 513. an automatic door; 514. a lifting paw mechanism; 52. a detection frame; 521. a photographing device; 5211. a connecting flange; 5212. a planar photographing device; 5213. a planar light source; 5214. a photographing apparatus main body; 5215. a roof light source; 5216. a fish eye photographing device; 5217. a strip light source; 5218. a macro-porous photographing device; 522. an articulated robot; 523. gantry fixing base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1

As shown in fig. 1, a flexible processing production line for a retarder comprises a processing line 1, an automatic line 2, a cleaning device 3, a leakage test detection device 4 and a flaw detection device 5, wherein the processing line 1 is a processing device and an auxiliary device which are discontinuously and linearly arranged, the automatic line 2 is used for carrying workpieces among devices of the processing line 1, the automatic line 2 is used for material transportation in the processing line 1, and the processing line 1 and the automatic line 2 are independent from each other. Cleaning device 3, leak test detection device 4 and flaw detection device 5 are connected in proper order, and cleaning device 3 sets up in transfer machine 2 and 1 end of processing line, and cleaning device 3 is used for carrying out burring, washing, drying and control by temperature change to the work piece.

As shown in fig. 2, the automated line 2 comprises a number of AGV carts 21, a stacking unit 22, an unstacking unit 23, crossbeam unit 24, clamping jaw unit 25, grab storehouse 26 and transfer table 27, the unit 23 of breaking a jam sets up in processing line 1 material loading end, stack unit 22 sets up in processing line 1 unloading end, crossbeam unit 24 sets up in processing line 1 top along processing line 1, clamping jaw unit 25 activity sets up on crossbeam unit 24, AGV dolly 21 sets up at stack unit 22 front end and the unit 23 rear end of breaking a jam, AGV dolly 21 is used for carrying the material frame of dress work piece to the material loading end and receives the material frame that the unloading end was carried out, the unit 23 of breaking a jam is used for with the work piece that the dolly 21 of material loading was transported on the material loading end carries out the AGV and breaks a jam and send into crossbeam unit 24 functional area, stack unit 22 carries out the work piece of unloading end and sends out crossbeam unit 24 functional area, clamping jaw unit 25 moves the transport work piece on processing line 1 through crossbeam unit 24. The gripper base 26 is arranged below the free end of the first vertical beam for storing the replacement grippers, and the transfer table 27 is arranged below the free end of the first vertical beam 242 for transferring the workpieces to the de-stacking unit 23 and the gripper unit 25.

As shown in fig. 3, the processing line 1 includes a plurality of process groups 11, a marking code scanning unit 12, a vision camera table unit 13, an air-blowing cleaning unit 14 disposed at the end of each process group 11, a sampling unit 15 disposed at the end of the air-blowing cleaning unit 14, and a machining NG channel 16 disposed at the end of the air-blowing cleaning unit 41, where the process groups 11 are composed of at least one machining tool. The visual photographic platform unit 13 is arranged at the inlet end of the marking code-scanning unit 12 and used for identifying the types of workpieces, visually aligning the grabbing positions, judging the front and the back of the workpieces and reading the confidence of a material frame chip after the workpieces are disassembled on the feeding end through the unstacking unit 23, and the marking code-scanning unit 12 is arranged on one side of the unstacking unit 23 and is used for marking and scanning the workpieces. Air-blowing cleaning unit 14 is used for clearing up the locating surface and the pinhole of lower preface work piece and preventing iron fillings fish tail or crushing wound work piece, and selective examination unit 15 is used for carrying out the selective examination to different processes, and machine adds NG material way 16 and is used for transporting and sweeping sign indicating number NG's work piece. The selective inspection unit 15 is used for performing selective inspection on different processes, manual selective inspection can be performed, frequent automatic selective inspection can also be set, guide rail sliders are driven by cylinders to guide, three selective inspections are set by automatic linemen to respectively correspond to three workpieces, a wireless code scanning gun is further arranged, and manual code scanning is performed when the workpieces pass in and out to prevent workpiece errors. The mechanical loading NG material channel 16 is used for operating the workpiece for scanning the code NG, and the workpiece is conveyed to a manual processing position from a manipulator blanking position in a motor-driven roller transmission mode.

As shown in fig. 4, the beam unit 24 includes a beam body 241, a first vertical beam 242 and a second vertical beam 243, the first vertical beam 242 and the second vertical beam 243 are respectively disposed at two ends of the beam body 241 in a perpendicular manner to the beam body 241, a free end of the first vertical beam 242 is disposed at an output end of the unstacking unit 23, a free end of the second vertical beam 243 is disposed at a distal end of the processing line 1, and the jaw unit 25 moves along the first vertical beam 242, the second vertical beam 243 and the beam body 241.

As shown in fig. 5, the clamping jaw unit 25 includes a clamping jaw body 251 and a floating module unit 252, the floating module unit 252 is movably disposed on the first vertical beam 242, and detachably connected to the clamping jaw body 251, the clamping jaw body 251 is used for carrying a workpiece, and the floating module unit 252 is used for slightly adjusting the axial position of the clamping jaw body 251X, Y to compensate for point misalignment. The gripper requires the floating module to be in an open state when grabbing or changing materials in each sequence, and after grabbing is finished, the floating module should be locked to avoid opening when the floating module runs at a high speed; the floating module is provided with one set of vertical beams.

As shown in fig. 6, the defect inspection apparatus 5 includes a carrying device 51 and an inspection rack 52, the inspection rack 52 is disposed on one side of the carrying device 51, and the functional region of the inspection rack 52 can move 360 degrees around the surface and inner wall of the workpiece held by the carrying device 51.

As shown in fig. 7, the carrying device 51 includes a frame body 511, a conveying device 512, an automatic door 513 and a lifting claw mechanism 514, the conveying device 512 is disposed on one side of the bottom of the frame body 511, the frame body 511 is of a door type structure, the automatic door 513 is disposed in the middle of the frame body 511, an inlet end of the conveying device 512 is connected with the automatic door 513, the conveying device 512 can rotate horizontally, the lifting claw mechanism 514 is disposed right above the conveying device 512, the conveying device 512 is vertically movably mounted on the side surface of the frame body 511, the conveying device 512 is of a double-station structure, stations are symmetrically disposed on two sides of a rotating shaft of the conveying device 512, and when the conveying device 512 is perpendicular to the frame body 511 in direction, one station of the conveying device 512 is disposed outside the automatic door 513.

As shown in fig. 8, the detecting frame 52 includes a photographing device 521, an articulated robot 522 and a gantry fixing base 523, one end of the articulated robot 522 is disposed on the top of the gantry fixing base 523, the other end is connected to the top of the photographing device 521, and a rotation degree of freedom in a horizontal direction is provided between the photographing device 521 and the articulated robot 522.

As shown in fig. 9, the photographing device 521 includes a connecting flange 5211, a planar photographing device 5212, a planar light source 5213, a photographing device body 5214, a roof light source 5215, a fisheye photographing device 5216, a strip light source 5217 and a large-hole photographing device 5218, the photographing device body 5214 is a columnar structure, the connecting flange 5211 is disposed at the top end of the photographing device body 5214, the planar light source 5213 is disposed at one side of the photographing device body 5214, the planar light source 5213 is a plate light source, a through hole is disposed at the middle of the planar light source 5213, the end of the planar photographing device 5212 is connected to the photographing device body 5214, the lens end of the planar photographing device 5212 is disposed in the through hole of the planar light source 5213, the roof light source 5215 is disposed on the side surface of the photographing device body 5214, the roof light source 5215 is an annular light source, the end of the fisheye photographing device 5216 is disposed at the side surface of the photographing device body 5214, the lens end of the fisheye photographing device 5216 is disposed inside the inner diameter of the roof light source 5215, the strip-shaped light source 5217 is movably disposed at the bottom of the photographing device body 5214, the strip-shaped light source 5217 has a rotational degree of freedom that is 180 degrees downward on a vertical plane, the large-hole photographing device 5218 is movably disposed at the bottom of the photographing device body 5214, and the large-hole photographing device 5218 has a rotational degree of freedom that is 180 degrees downward on a vertical plane.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a flexible processing lines of retarber which characterized in that: the automatic processing line comprises a processing line (1) and an automatic line (2), wherein the processing line (1) comprises a plurality of processing groups (11) which are discontinuously and linearly arranged, each processing group (11) consists of at least one processing machine, the automatic line (2) is used for carrying processed parts among devices of the processing line (1), the automatic line (2) is used for material transportation in the processing line (1), and the processing line (1) and the automatic line (2) are independent from each other; the automatic line (2) comprises a plurality of AGV trolleys (21), a stacking unit (22), an unstacking unit (23), a beam unit (24) and a clamping jaw unit (25), the unstacking unit (23) is arranged at the feeding end of the processing line (1), the stacking unit (22) is arranged at the discharging end of the processing line (1), the beam unit (24) is arranged above the processing line (1), the clamping jaw unit (25) is movably arranged on the beam unit (24), the AGV trolleys (21) are arranged at the front end of the stacking unit (22) and the rear end of the unstacking unit (23), the AGV trolleys (21) are used for conveying frames containing workpieces to the feeding end and receiving frames conveyed by the discharging end, the unstacking unit (23) is used for unstacking workpieces conveyed on the feeding end by the AGV trolleys (21) and conveying the workpieces to the functional area of the beam unit (24), the stacking unit (22) is used for stacking the workpieces at the blanking end and sending the workpieces out of the functional area of the cross beam unit (24), and the clamping jaw unit (25) moves through the cross beam unit (24) to convey the workpieces on the processing line (1);

The retarder flexible processing production line further comprises a cleaning device (3), a leakage test detection device (4) and a flaw detection device (5), the cleaning device (3), the leakage test detection device (4) and the flaw detection device (5) are sequentially connected, the cleaning device (3) is arranged at the tail ends of the automatic line (2) and the processing line (1), and the cleaning device (3) is used for deburring, cleaning, drying and controlling temperature of workpieces;

the flaw detection device (5) comprises a conveying device (51) and a detection frame (52), wherein the detection frame (52) is arranged on one side of the conveying device (51), and a functional area of the detection frame (52) can move 360 degrees around the surface and the inner wall of a workpiece clamped by the conveying device (51); the carrying device (51) comprises a frame body (511), a conveying device (512), an automatic door (513) and a lifting paw mechanism (514), the conveying device (512) is arranged on one side of the bottom of the frame body (511), the frame body (511) is of a door type structure, the automatic door (513) is arranged in the middle of the frame body (511), the inlet end of the conveying device (512) is connected with the automatic door (513), the conveying device (512) can rotate horizontally, the lifting paw mechanism (514) is arranged right above the conveying device (512) and vertically and movably arranged on the side surface of the frame body (511), the conveying device (512) is of a double-station structure, stations are symmetrically arranged on two sides of a rotating shaft of the conveying device (512), when the direction of the conveying device (512) is vertical to the frame body (511), a working position of the conveying device (512) is arranged outside an automatic door (513); the detection frame (52) comprises a photographing device (521), a joint robot (522) and a gantry fixing base (523), one end of the joint robot (522) is arranged at the top of the gantry fixing base (523), the other end of the joint robot is connected with the top of the photographing device (521), and the photographing device (521) and the joint robot (522) have horizontal rotation freedom; the photographing device (521) comprises a connecting flange (5211), a plane photographing device (5212), a plane light source (5213), a photographing device body (5214), a roof light source (5215), a fisheye photographing device (5216), a strip light source (5217) and a large-hole photographing device (5218), wherein the photographing device body (5214) is of a columnar structure, the connecting flange (5211) is arranged at the top end of the photographing device body (5214), the plane light source (5213) is arranged on one side of the photographing device body (5214), the plane light source (5213) is a plate light source, a through hole is formed in the middle of the plane light source (5213), the tail end of the plane photographing device (5212) is connected with the photographing device body (5214), the lens end of the plane photographing device (5212) is arranged in the through hole of the plane light source (5213), the roof light source (5215) is arranged on the side surface of the photographing device body (5214), roof light source (5215) are cyclic annular light source, the fisheye shoot device (5216) end set up in shoot device main part (5214) side, the fisheye shoot device (5216) camera lens end set up in inside roof light source (5215) internal diameter, strip light source (5217) activity set up in shoot device main part (5214) bottom, strip light source (5217) have 180 degrees of rotational freedom downwards on the vertical plane, the macropore shoot device (5218) activity set up in shoot device main part (5214) bottom, macropore shoot device (5218) have 180 degrees of rotational freedom downwards on the vertical plane.

2. The flexible processing production line of retarber of claim 1, characterized in that: crossbeam unit (24) includes crossbeam body (241), first perpendicular roof beam (242) and second and erects roof beam (243), first perpendicular roof beam (242) with second erect roof beam (243) set up perpendicularly respectively in crossbeam body (241) both ends, first perpendicular roof beam (242) free end set up in unstacking unit (23) output, second erect roof beam (243) free end set up in processing line (1) is terminal, clamping jaw unit (25) are followed first perpendicular roof beam (242), second erect roof beam (243) and crossbeam body (241) remove.

3. The flexible processing production line of retarber of claim 2, characterized in that: the clamping jaw unit (25) comprises a clamping jaw body (251) and a floating module unit (252), the floating module unit (252) is movably arranged on the first vertical beam (242) and is detachably connected with the clamping jaw body (251), the clamping jaw body (251) is used for carrying workpieces, and the floating module unit (252) is used for adjusting the axial position of the clamping jaw body (251) X, Y to compensate point inaccuracy.

4. The flexible processing production line of retarber of claim 2, characterized in that: the automatic line (2) further comprises a hand-held library (26) and a transfer platform (27), wherein the hand-held library (26) is arranged below the free end of the first vertical beam (242) and used for storing replaced hand claws, and the transfer platform (27) is arranged below the free end of the first vertical beam (242) and used for butt joint of the unstacking unit (23) and the clamping jaw unit (25) to transfer the workpieces.

5. The flexible processing production line of retarber of claim 1, characterized in that: processing line (1) is still including beating the mark and is swept a yard unit (12) and vision photo-station unit (13), vision photo-station unit (13) set up in beat the mark sweep yard unit (12) entry end be used for through unstack unit (23) is with the material loading end carry out work piece kind discernment, snatch position vision alignment, the positive and negative judgement of work piece and material frame chip confidence and read after the work piece is torn open, beat mark sweep yard unit (12) set up in it is right to tear apart a jam unit (23) one side be used for beating the work piece and sweep the sign indicating number.

6. The flexible processing production line of retarber according to claim 5, characterized in that: machining line (1) still including set up in each the terminal gas of process group (11) blows cleaning element (14), set up in gas blows cleaning element (14) terminal selective examination unit (15) and set up in gas blows terminal machine of cleaning element (14) and adds NG material way (16), gas blows cleaning element (14) and is used for to the lower preface locating surface and the pinhole of work piece are cleared up and are prevented iron fillings fish tail or crush injury work piece, selective examination unit (15) are used for carrying out the selective examination to different processes, machine adds NG material way (16) and is used for transporting and sweep the work piece of sign indicating number NG.