CN118491905B - AGV-based flange plate detection assembly line conveying system - Google Patents

Abstract

The invention relates to the technical field of machine vision detection, and discloses a flange plate detection assembly line conveying system based on an AGV, which comprises the following components: the flange conveying unit is used for conveying the flange to the detection station and the sorting station; the AGV trolley is arranged in a plurality and is respectively positioned at the feeding end and the discharging end of the flange conveying unit and used for automatically conveying the flange to be detected and the flange after sorting; the image acquisition unit is positioned at the detection station and used for acquiring image information of the flange plate; and the control unit is used for detecting the size of the flange plate according to the image information and controlling the flange plate conveying unit to act. According to the invention, the image information of the flange plate is acquired through the image acquisition unit, whether the size of the flange plate is qualified or not is detected, the qualified flange plate and the unqualified flange plate are respectively conveyed by being used as the sorting basis of the flange plate, and the AGV trolley is adopted for automatic positioning and transportation, so that the full-automatic operation of the flange plate detection assembly line is realized.

Description

A flange inspection line conveying system based on AGV

Technical Field

The present invention relates to the technical field of machine vision detection, and more specifically, to an AGV-based flange detection assembly line conveying system.

Background Art

Automobile flange is an important part of automobile suspension system, which is used to connect wheel axle and suspension system. The flange realizes the firm support and stable fixation of wheel axle, ensures the smooth rotation of wheel, and effectively absorbs and transmits various dynamics and vibrations generated by vehicle driving. However, in the production process, due to reasons such as materials and processes, the size deviation of flange is often too large, which makes the size accuracy of flange insufficient. At present, enterprises mainly rely on manual sampling of inspection tools or measuring tools for flange size detection, which not only has low detection efficiency, but also has high false detection rate, and cannot fully guarantee product quality. In industrial inspection, the most common application of machine vision is the size measurement of various mechanical parts. Machine vision measurement has the advantages of non-destructive, high speed and low cost, and is increasingly used in modern industrial production.

In the prior art, for example, a Chinese patent with application number CN202311740970.0 discloses a CCD machine vision full-size inspection device, including a workbench for inspecting circular workpieces, a chamber is provided in the workbench, a central through groove is provided on the upper end surface of the workbench, an illumination lamp is fixed on the inner wall of the central through groove, a surrounding through groove is provided on the upper end surface of the workbench, a vertical CCD camera is fixed on the inner wall of each surrounding through groove, two side frames are symmetrically fixed on the upper end surface of the workbench, a plurality of side wall mounting grooves are provided on the opposite surfaces of the two side frames, and a horizontal CCD camera is fixed in each side wall mounting groove.

When using this device, the staff needs to operate it manually. The staff places the circular workpiece to be inspected on the upper end surface of the workbench and clamps it. Manual sorting is still required after inspection, which is inefficient in the production of large quantities of automotive flange parts.

Therefore, it is necessary to propose a flange inspection assembly line conveying system based on AGV to at least partially solve the problems existing in the prior art.

Summary of the invention

A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

In order to at least partially solve the above problems, the present invention provides a flange inspection assembly line conveying system based on AGV, comprising:

Flange conveying unit, used to convey flanges to the inspection station and sorting station;

AGV trolleys, multiple AGV trolleys are provided, which are respectively located at the loading end and the discharging end of the flange conveying unit, and are used to automatically transport the flanges to be inspected and the flanges after sorting;

An image acquisition unit, located at the inspection station, is used to acquire image information of the flange;

The control unit detects the size of the flange according to the image information and controls the action of the flange conveying unit.

Preferably, a qualified product discharging area and an unqualified product discharging area are set at the rear end of the flange conveying unit, and a sorting robot is set at the sorting station. The sorting robot moves flanges with qualified sizes to the qualified product discharging area, and moves flanges with unqualified sizes to the unqualified product discharging area. AGV carts are set in both the qualified product discharging area and the unqualified product discharging area.

Preferably, the loading robot is located at the loading end of the flange conveying unit, and is used to move the flange to be inspected in the AGV trolley to the flange conveying unit and place it at preset intervals.

Preferably, the execution end of the feeding robot is connected to a flange positioning unit, and the flange positioning unit includes:

Position sensor, which is used to detect the position of the flange on the AGV trolley;

The positioning clamp is connected to the execution end of the feeding robot. The feeding robot drives the positioning clamp to move according to the position detection result and aligns it with the flange.

Preferably, the positioning clamp includes: a driving disk, a first electric telescopic rod and a clamping block, the driving column at the top of the driving disk is connected to the execution end of the loading robot, the four first electric telescopic rods are evenly connected to the side wall of the driving disk, the rod length of the first electric telescopic rod is telescopically adjustable, the clamping block is connected to the end of the first electric telescopic rod, the clamping block corresponds to the four circumferential circular holes of the flange, and the clamping block is clamped on the side of the circumferential circular hole close to the center of the flange.

Preferably, an edge cleaning assembly is provided on the positioning clamp, and the edge cleaning assembly includes: an electric rotating sleeve, a second electric telescopic rod, a cleaning plate assembly and a bent rod, the electric rotating sleeve is rotatably connected to the outside of the driving column, the second electric telescopic rod is connected to the side wall of the electric rotating sleeve, and the second electric telescopic rod is located above the first electric telescopic rod; the bent rod is connected to the end of the second electric telescopic rod and is arranged vertically downward; the cleaning plate assembly is connected to the bottom end of the bent rod, and the cleaning plate assembly is arranged on the outside of the flange.

Preferably, the cleaning plate assembly includes an upper cleaning plate and a lower cleaning plate that are symmetrically arranged, the top end of the upper cleaning plate is connected to the bottom end of the bent rod through a cross bar, and the upper cleaning plate and the lower cleaning plate are connected through a frame structure.

Preferably, the frame structure comprises: an axle body and a connecting rod, the two axles are respectively connected to the top end of the upper cleaning plate and the bottom end of the lower cleaning plate, the connecting rod connects the two axle body ends, and the length of the connecting rod is adjustable.

Preferably, an elastic scraper groove is provided on the inner side of the upper cleaning plate and the lower cleaning plate, an elastic scraper 1 is hingedly connected to one end of the elastic scraper groove, and a spring is connected between the elastic scraper 1 and the elastic scraper groove.

Preferably, the upper cleaning plate and the lower cleaning plate are arranged at an angle, and the distance between the upper cleaning plate and the lower cleaning plate on the side close to the flange is greater than the distance away from the side of the flange. The flange is clamped between the upper cleaning plate and the lower cleaning plate, and the upper edge of the flange contacts the elastic scraper on the upper cleaning plate, and the lower edge of the flange contacts the elastic scraper on the lower cleaning plate.

Preferably, the inner sides of the upper cleaning plate and the lower cleaning plate are both provided with elastic scraper grooves, and the elastic scraper grooves include:

A support seat, the support seat is connected to the elastic scraper groove, the open end of the support seat is flush with the elastic scraper groove, the open end is set as a wedge-shaped opening, and a gap is set between the other end of the support seat and the bottom of the elastic scraper groove;

A driving motor is installed at the bottom of the elastic scraper groove;

Rotating shaft 1, which is connected to the output end of the driving motor and extends into the supporting seat;

A support ring connected to the inner wall of the support seat;

An elastic plate support tube, the outer wall of which is rotatably connected to the inner ring end of the support ring through a spline, one end of the elastic plate support tube is sleeved on one end of the rotating shaft and slides relatively therewith, a spring is connected between the elastic plate support tube and one end of the rotating shaft, and an elastic scraper groove is extended from the other end of the elastic plate support tube and connected to the second elastic scraper;

Rotating shaft 2, the rotating shaft 2 is connected to the outer ring end of the supporting ring, and a driven gear and a fan blade are rotatably arranged on the rotating shaft 2, and the fan blade is close to the opening edge of the supporting seat;

The gear ring is connected to an outer wall of the rotating shaft through a support plate, and the gear ring is meshed and connected with the driven gear.

Compared with the prior art, the present invention has at least the following beneficial effects:

The present invention provides an AGV-based flange inspection and assembly line conveying system, which obtains image information of the flange through an image acquisition unit, detects whether the size of the flange is qualified, and uses it as a basis for sorting the flanges. The qualified and unqualified flanges are conveyed separately, and the AGV trolley is used for automatic positioning and transportation, so as to realize the full automatic operation of the flange inspection assembly line;

When the loading robot is in use, a position sensor is used to obtain the position of the flange to be loaded on the AGV car. The control unit controls the execution end action of the loading robot according to the position information, so that its positioning claws can face the flange, ensuring that the flange can be grasped at the preset position each time. After the flange is placed on the flange conveying unit, the position of the flange remains consistent, so that the position state of the flange at the detection station remains consistent, reducing the difficulty of tracking and shooting by the image acquisition unit when the flange position is offset.

The present invention describes an AGV-based flange inspection assembly line conveying system. Other advantages, objectives and features of the present invention will be partially reflected through the following description, and will also be partially understood by technicians in this field through research and practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

FIG1 is a top view of an AGV-based flange inspection assembly line conveying system of the present invention;

FIG2 is a side view of a feeding manipulator in a flange inspection line conveying system based on an AGV according to the present invention;

FIG3 is a schematic diagram of the structure of the flange in the present invention;

FIG4 is a schematic diagram of the structure of the positioning clamping jaws clamping the flange in the present invention;

FIG5 is a schematic diagram of the structure of the positioning clamp in the present invention;

FIG6 is a partially enlarged schematic structural diagram of point A in FIG5 of the present invention;

FIG7 is a schematic diagram of a partially enlarged structure of point B in FIG6 of the present invention;

FIG8 is a schematic diagram showing the structure of the elastic scraper groove of the present invention in a second form.

In the figure: 1. Flange conveying unit; 2. Flange; 3. AGV trolley; 4. Image acquisition unit; 5. Sorting manipulator; 6. Qualified product discharge area; 7. Unqualified product discharge area; 8. Loading manipulator; 9. Flange positioning unit; 11. Driving plate; 12. First electric telescopic rod; 13. Clamping block; 14. Driving column; 15. Electric rotating sleeve; 16. Second electric telescopic rod; 17. Cleaning plate assembly; 18. Bending rod; 21. Circumferential circular hole; 31. Upper cleaning plate; 32. Lower cleaning plate; 33. Cross bar; 34. Shaft; 35. Connecting rod; 36. Elastic scraper groove; 37. Elastic scraper 1; 38. Shrapnel; 41. Support seat; 42. Driving motor; 43. Rotating shaft 1; 44. Support ring; 45. Elastic plate support cylinder; 46. Elastic scraper 2; 47. Rotating shaft 2; 48. Driven gear; 49. Fan blade; 50. Gear ring; 51. Support plate.

DETAILED DESCRIPTION

The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

Embodiment 1:

As shown in FIGS. 1 and 2 , the present invention provides an AGV-based flange inspection assembly line conveying system, comprising:

The flange conveying unit 1 is used to convey the flange 2 to the inspection station and the sorting station;

AGV trolleys 3, which are arranged in plurality and are respectively located at the loading end and the discharging end of the flange conveying unit 1, and are used for automatically transporting the flange 2 to be inspected and the flange 2 after sorting;

An image acquisition unit 4 is located at the detection station and is used to acquire image information of the flange 2;

The control unit detects the size of the flange 2 according to the image information and controls the action of the flange conveying unit 1.

The working principle and beneficial effects of the above technical solution are:

A flange inspection assembly line conveying system based on AGV, adopts a flange conveying unit 1 to convey a flange 2 to an inspection station and a sorting station, and the flange conveying unit 1 adopts a conveying structure such as a conveyor belt; an AGV trolley 3 is used to automatically locate and convey the flange 2 to be inspected to the loading end of the flange conveying unit 1, and each flange 2 is arranged at a preset interval. As the flange conveying unit 1 moves, the flange 2 is moved to the inspection station, and image information of the flange 2 is collected by an image acquisition unit 4, and the image information is transmitted to a control unit, and the edge and size of the flange 2 are inspected, and whether the size of the flange 2 is qualified is evaluated, and qualified and unqualified flanges 2 are sorted and conveyed; the sorted flanges 2 are automatically transported to the next process by the AGV trolley 3.

Through the above structural design, an AGV-based flange inspection assembly line conveying system is provided. The image information of the flange 2 is obtained through the image acquisition unit to detect whether the size of the flange 2 is qualified. This is used as the basis for sorting the flange 2. The qualified and unqualified flanges 2 are conveyed separately, and the AGV trolley 3 is used for automatic positioning and transportation to realize the fully automatic operation of the flange inspection assembly line.

Among them, a qualified product discharging area 6 and an unqualified product discharging area 7 are set at the rear end of the flange conveying unit 1, and a sorting robot 5 is set at the sorting station. The sorting robot 5 moves the flange 2 with qualified size to the qualified product discharging area 6, and moves the flange 2 with unqualified size to the unqualified product discharging area 7. AGV carts 3 are set in both the qualified product discharging area 6 and the unqualified product discharging area 7.

When sorting the flange 2, the sorting robot 5 takes action after receiving the sorting signal from the controller. If the current size of the flange 2 is qualified, the sorting robot 5 is controlled to move it to the qualified product discharge area 6; if the current size of the flange 2 is unqualified, the sorting robot 5 is controlled to move it to the unqualified product discharge area 7 to realize the sorting of the flange 2.

The loading robot 8 is located at the loading end of the flange conveying unit 1, and is used to move the flange 2 to be inspected in the AGV trolley 3 to the flange conveying unit 1, and place it at a preset interval.

The flanges 2 are arranged at preset intervals on the flange conveying unit 1, driving the flanges 2 to be conveyed to the inspection station and the sorting station in sequence, so that the preset distance is maintained between the flanges 2, and no interference occurs during image acquisition, thereby improving the accuracy of size detection.

Embodiment 2:

As shown in FIGS. 1 and 2 , based on the above-mentioned embodiment 1, the execution end of the feeding robot 8 is connected with a flange positioning unit 9, and the flange positioning unit 9 includes:

Position sensor, which is used to detect the position of flange 2 on AGV trolley 3;

The positioning clamp is connected to the execution end of the feeding robot 8. The feeding robot 8 drives the positioning clamp to move according to the position detection result and aligns it with the flange 2.

The working principle and beneficial effects of the above technical solution are:

When the loading robot 8 is in use, a position sensor is used to obtain the position of the flange 2 to be loaded on the AGV trolley 3. The control unit controls the execution end action of the loading robot 8 according to the position information, so that its positioning claws can face the flange 2, ensuring that the flange 2 can be grasped at the preset position each time. After the flange 2 is placed on the flange conveying unit 1, the position of the flange 2 remains consistent, so that the position state of the flange 2 at the detection station remains consistent, reducing the difficulty of tracking and shooting by the image acquisition unit when the position of the flange 2 is offset.

Embodiment 3:

As shown in Figures 4 and 5, on the basis of the above-mentioned embodiment 2, the positioning clamp includes: a driving disk 11, a first electric telescopic rod 12 and a clamping block 13. The driving column 14 at the top of the driving disk 11 is connected to the execution end of the loading robot 8. The four first electric telescopic rods 12 are evenly connected to the side wall of the driving disk 11. The rod length of the first electric telescopic rod 12 is telescopically adjustable. The clamping block 13 is connected to the end of the first electric telescopic rod 12. The clamping block 13 corresponds to the four circumferential circular holes 21 of the flange 2, and the clamping block 13 is clamped on the side of the circumferential circular hole 21 close to the center of the flange 2.

The working principle and beneficial effects of the above technical solution are:

When the positioning clamp is in use, the positioning clamp is positioned above the flange 2 as a whole, and then the first electric telescopic rod 12 is started, and the position of the clamping block 13 is adjusted so that the clamping block 13 is positioned above the four circumferential circular holes 21 of the flange 2, and then the height of the positioning clamp is lowered so that the clamping block 13 extends into the circumferential circular holes 21; then the first electric telescopic rod 12 is started to shorten so that the clamping block 13 abuts against the side of the circumferential circular hole 21 close to the center of the flange 2, and pressure is applied to achieve positioning and clamping of the flange 2.

Embodiment 4:

As shown in Figures 4-7, on the basis of the above-mentioned embodiment 3, an edge cleaning assembly is provided on the positioning clamp, and the edge cleaning assembly includes: an electric rotating sleeve 15, a second electric telescopic rod 16, a cleaning plate assembly 17 and a bent rod 18, the electric rotating sleeve 15 is rotatably connected to the outside of the driving column 14, the second electric telescopic rod 16 is connected to the side wall of the electric rotating sleeve 15, and the second electric telescopic rod 16 is located above the first electric telescopic rod 12; the bent rod 18 is connected to the end of the second electric telescopic rod 16 and is arranged vertically downward; the cleaning plate assembly 17 is connected to the bottom end of the bent rod 18, and the cleaning plate assembly 17 is arranged on the outside of the flange 2.

The working principle and beneficial effects of the above technical solution are:

An edge cleaning assembly is provided on the positioning clamping jaws. Before the clamping block 13 clamps the flange 2, the second electric telescopic rod 16 is started to extend so that the cleaning plate assembly 17 is located outside the flange 2; after the clamping block 13 clamps the flange 2, the second electric telescopic rod 16 is started to shorten, and the cleaning plate assembly 17 is clamped on the edge of the flange 2. The cleaning plate assembly 17 contacts the side of the flange 2, and then the electric rotating sleeve 15 is started. The electric rotating sleeve 15 drives the cleaning plate assembly 17 to rotate through the second electric telescopic rod 16. When the cleaning plate assembly 17 moves along the edge of the flange 2, processing debris and the like attached to the edge of the flange 2 are scraped off.

Through the above-mentioned structural design, when the positioning clamp clamps the flange 2 for feeding, the edge cleaning component is started synchronously, and the cleaning plate component 17 rotates on the edge of the flange 2 to clean and scrape off the processing debris and other debris attached to the edge of the flange 7 to keep the edge of the flange 7 clean. Compared with the spray cleaning method, it can directly act on the edge of the flange 2, with better cleaning effect, avoiding protrusions such as debris affecting the accuracy of detection during the image acquisition process; the cleaning plate component 17 is integrated on the positioning clamp, and there is no need to re-position during the cleaning process, which reduces the control difficulty of the system; it is carried out synchronously during the feeding process, which improves the efficiency of the conveying system.

Embodiment 5:

As shown in Figure 6, based on the above-mentioned embodiment 4, the cleaning plate assembly 17 includes an upper cleaning plate 31 and a lower cleaning plate 32 that are symmetrically arranged. The top of the upper cleaning plate 31 is connected to the bottom end of the bent rod 18 through a cross bar 33, and the upper cleaning plate 31 and the lower cleaning plate 32 are connected through a frame structure.

The frame structure includes: an axle body 34 and a connecting rod 35. The two axles 34 are respectively connected to the top end of the upper cleaning plate 31 and the bottom end of the lower cleaning plate 32. The connecting rod 35 connects the ends of the two axles 34, and the length of the connecting rod 35 is adjustable.

The working principle and beneficial effects of the above technical solution are:

When the cleaning plate assembly 17 is in use, the upper cleaning plate 31 and the lower cleaning plate 32 are respectively located at the upper and lower sides of the flange 2, and the second electric telescopic rod 16 drives the upper cleaning plate 31 to rotate through the bent rod 18 and the cross bar 33, and the frame structure connects the upper cleaning plate 31 and the lower cleaning plate 32 into one body, so as to clean the upper and lower edges of the flange 2. The frame structure is set as a frame structure composed of two shaft bodies 34 and two connecting rods 35, which keeps the positions of the upper cleaning plate 31 and the lower cleaning plate 32 stable, and the length of the connecting rod 35 is adjustable. By adjusting the length of the connecting rod 35, the spacing between the upper cleaning plate 31 and the lower cleaning plate 32 is adjusted to adapt to flanges 2 of different thicknesses, so that the upper cleaning plate 31 and the lower cleaning plate 32 are more closely fitted to the edges of the flange 2, and the cleaning effect is better.

Embodiment 6:

As shown in Figures 6 and 7, based on the above-mentioned embodiment 5, elastic scraper grooves 36 are provided on the inner sides of the upper cleaning plate 31 and the lower cleaning plate 32, and an elastic scraper 37 is hinged at one end of the elastic scraper groove 36, and a spring piece 38 is connected between the elastic scraper 37 and the elastic scraper groove 36.

The upper cleaning plate 31 and the lower cleaning plate 32 are arranged obliquely, and the distance between the upper cleaning plate 31 and the lower cleaning plate 32 on the side close to the flange 2 is greater than the distance away from the side of the flange 2. The flange 2 is clamped between the upper cleaning plate 31 and the lower cleaning plate 32, and the upper edge of the flange 2 contacts the elastic scraper 37 on the upper cleaning plate 31, and the lower edge of the flange 2 contacts the elastic scraper 37 on the lower cleaning plate 32.

The working principle and beneficial effects of the above technical solution are:

The processing debris attached to the flange 2 is mainly concentrated on the upper and lower edges. An elastic scraper 37 is set on the upper cleaning plate 31 and the lower cleaning plate 32. The upper cleaning plate 31 and the lower cleaning plate 32 are arranged at an angle so that the elastic scraper 37 contacts the upper and lower edges of the flange 2. The elastic scraper 37 is acted upon by the spring piece 38 to maintain pressure on the upper and lower edges of the flange 2. When the upper cleaning plate 31 and the lower cleaning plate 32 rotate, the upper and lower edges of the flange 2 are locally cleaned by the elastic scraper 37, and the cleaning effect is better. When the debris on the flange 2 adheres to it and cannot be cleaned by the elastic scraper 37, the elastic scraper 37 is squeezed by the debris and shrinks into the elastic scraper groove 36 until it passes over the debris, which will not hinder the relative rotation of the cleaning plate and the flange 2.

Embodiment 7:

As shown in FIG8 , based on the above-mentioned embodiment 5, the inner sides of the upper cleaning plate 31 and the lower cleaning plate 32 are both provided with elastic scraper grooves 36, and the elastic scraper grooves 36 include:

A support seat 41, the support seat 41 is connected to the elastic scraper groove 36, the open end of the support seat 41 is flush with the elastic scraper groove 36, the open end is set as a wedge-shaped opening, and a gap is set between the other end of the support seat 41 and the bottom of the elastic scraper groove 36;

A driving motor 42, the driving motor 42 is installed at the bottom of the elastic scraper groove 36;

A rotating shaft 43, the rotating shaft 43 is connected to the output end of the driving motor 42 and extends into the supporting seat 41;

A support ring 44, the support ring 44 is connected to the inner wall of the support seat 41;

The elastic plate support tube 45, the outer wall of the elastic plate support tube 45 is rotatably connected to the inner ring end of the support ring 44 through a spline, one end of the elastic plate support tube 45 is sleeved on the end of the rotating shaft 1 43 and slides relatively therewith, a spring is connected between the elastic plate support tube 45 and the end of the rotating shaft 1 43, and the other end of the elastic plate support tube 45 extends out of the elastic scraper groove 36 and is connected to the elastic scraper 2 46;

The second rotating shaft 47 is connected to the outer ring end of the support ring 44, and a driven gear 48 and a fan blade 49 are rotatably arranged on the second rotating shaft 47, and the fan blade 49 is close to the opening edge of the support seat 41;

The gear ring 50 is connected to the outer wall of the rotating shaft 43 through the support plate 51, and the gear ring 50 is meshed and connected with the driven gear 48.

The working principle and beneficial effects of the above technical solution are:

The elastic scraper groove 36 in the upper cleaning plate 31 and the lower cleaning plate 32 is set to the second form. When in use, the elastic scraper 2 46 contacts the upper and lower edges of the flange 2, and the elastic plate support cylinder 45 slides relative to the rotating shaft 1 43, so that the elastic scraper 2 46 can be retracted and moved into the elastic scraper groove 36 when it is pressed. The elastic scraper 2 46 has the same function as the elastic scraper 1 37 in Example 6. When the positioning claw clamps the flange 2, the drive motor 42 is started at the same time, and the drive motor 42 outputs The rotating shaft 1 43 at the output end rotates accordingly, driving the gear ring 50 to rotate through the support plate 51, and the gear ring 50 meshes with the driven gear 48 for transmission, driving the rotating shaft 2 47 to rotate, so that the fan blades 49 rotate accordingly. An air inlet hole is provided in the elastic scraper groove 36. After the fan blades 49 disturb the airflow, it flows outward through the wedge-shaped mouth at the open end of the support seat 41. Part of the airflow flows to the side of the flange 2, and part of it flows to the upper and lower surfaces of the flange 2, so as to remove dust and debris on the side and upper and lower surfaces of the flange 2.

Through the above-mentioned structural design, a rotating fan blade 49 is arranged in the elastic scraper groove 36, and air flow blowing is combined on the basis of scraper cleaning. On the one hand, the air flow is guided to the side and upper and lower surfaces of the flange 2, so as to achieve the overall cleaning of the surface of the flange 2, and the cleaning effect is better; on the other hand, the debris and dust cleaned by the elastic scraper 2 46 are blown off in time to avoid scratching the flange 2 as the elastic scraper 2 46 moves.

In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims (4)

1. AGV-based flange plate detection assembly line conveying system, characterized by comprising:

The flange conveying unit (1) is used for conveying the flange (2) to the detection station and the sorting station;

The AGV trolleys (3) are arranged in a plurality, are respectively positioned at the feeding end and the discharging end of the flange conveying unit (1) and are used for automatically conveying the flange (2) to be detected and the flange (2) after sorting;

The image acquisition unit (4) is positioned at the detection station and is used for acquiring image information of the flange plate (2);

the control unit is used for detecting the size of the flange plate (2) according to the image information and controlling the flange plate conveying unit (1) to act;

the feeding manipulator (8) is positioned at the feeding end of the flange conveying unit (1) and is used for moving the flange (2) to be detected in the AGV trolley (3) onto the flange conveying unit (1) and placing the flange at preset intervals;

The execution end of material loading manipulator (8) is connected with ring flange positioning unit (9), and ring flange positioning unit (9) include:

the position sensor is used for detecting the position of the flange plate (2) on the AGV trolley (3);

the positioning clamping jaw is connected to the execution end of the feeding manipulator (8), and the feeding manipulator (8) drives the positioning clamping jaw to act according to the position detection result so as to be opposite to the flange plate (2);

the positioning clamping jaw comprises: the device comprises a driving disc (11), first electric telescopic rods (12) and clamping blocks (13), wherein a driving column (14) at the top end of the driving disc (11) is connected to the execution end of a feeding manipulator (8), four first electric telescopic rods (12) are uniformly connected to the side wall of the driving disc (11), the length of the rod parts of the first electric telescopic rods (12) can be adjusted in a telescopic mode, the clamping blocks (13) are connected to the end parts of the first electric telescopic rods (12), the clamping blocks (13) correspond to four circumferential round holes (21) of a flange plate (2), and the clamping blocks (13) are clamped on one side, close to the center of the flange plate (2), of the circumferential round holes (21);

Be provided with edge cleaning assembly on the location clamping jaw, edge cleaning assembly includes: the cleaning device comprises an electric rotating sleeve (15), a second electric telescopic rod (16), a cleaning plate assembly (17) and a bent rod (18), wherein the electric rotating sleeve (15) is rotationally connected to the outer side of a driving column (14), the second electric telescopic rod (16) is connected to the side wall of the electric rotating sleeve (15), and the second electric telescopic rod (16) is positioned above the first electric telescopic rod (12); the bent rod (18) is connected to the end part of the second electric telescopic rod (16) and is vertically arranged downwards; the cleaning plate assembly (17) is connected to the bottom end of the bent rod (18), and the cleaning plate assembly (17) is arranged on the outer side of the flange plate (2);

the cleaning plate assembly (17) comprises an upper cleaning plate (31) and a lower cleaning plate (32) which are symmetrically arranged, the top end of the upper cleaning plate (31) is connected with the bottom end of the bent rod (18) through a cross rod (33), and the upper cleaning plate (31) is connected with the lower cleaning plate (32) through a frame structure;

the frame structure includes: the cleaning device comprises shaft bodies (34) and connecting rods (35), wherein the two shaft bodies (34) are respectively connected to the top end of an upper cleaning plate (31) and the bottom end of a lower cleaning plate (32), the connecting rods (35) are connected to the end parts of the two shaft bodies (34), and the length of each connecting rod (35) is adjustable.

2. The flange detection assembly line conveying system based on the AGV according to claim 1, wherein a qualified product discharging area (6) and an unqualified product discharging area (7) are arranged at the rear end of the flange conveying unit (1), a sorting manipulator (5) is arranged at a sorting station, the sorting manipulator (5) moves the flange (2) with qualified size to the qualified product discharging area (6), the flange (2) with unqualified size is moved to the unqualified product discharging area (7), and the qualified product discharging area (6) and the unqualified product discharging area (7) are both provided with the AGV trolley (3).

3. The flange plate detection assembly line conveying system based on the AGV according to claim 1, wherein elastic scraping plate grooves (36) are formed in the inner sides of the upper cleaning plate (31) and the lower cleaning plate (32), an elastic scraping plate I (37) is hinged to one end in each elastic scraping plate groove (36), and an elastic sheet (38) is connected between each elastic scraping plate I (37) and each elastic scraping plate groove (36).

4. A flange detection line conveying system based on an AGV according to claim 3, wherein the upper cleaning plate (31) and the lower cleaning plate (32) are arranged obliquely, and the distance between the upper cleaning plate (31) and the lower cleaning plate (32) near to the side of the flange plate (2) is larger than the distance between the flange plate (2) and the side far away from the flange plate (2), the flange plate (2) is clamped between the upper cleaning plate (31) and the lower cleaning plate (32), the upper edge of the flange plate (2) is in contact with the first elastic scraping plate (37) on the upper cleaning plate (31), and the lower edge of the flange plate (2) is in contact with the first elastic scraping plate (37) on the lower cleaning plate (32).