Intelligent sample storage and on-line and off-line system for steel flaw detection

Abstract

The utility model provides an intelligent sample storage and on-line and off-line system for steel flaw detection, which comprises a three-dimensional goods shelf for storing samples; the cache rack is used for temporarily storing the samples which are delivered out of the warehouse and / or stored in the warehouse; the stacking machine is used for transporting the samples between the three-dimensional goods shelf and the temporary storage rack; the manipulator platform is used for temporarily storing the sample to be inspected or the inspected sample; the intelligent transport vehicle is used for transporting the samples between the temporary storage rack and the manipulator platform; the sample checking table is used for checking the sample; the mechanical arm is used for clamping and conveying the sample between the sample checking table and the mechanical arm platform; and the upper computer is provided with an intelligent three-dimensional warehouse management subsystem. According to the system, the intelligent three-dimensional warehouse, the AGV and the mechanical arm are combined, full-automatic storage, transferring and flaw detection line loading and unloading of samples are achieved, the limitation of travelling crane hoisting is completely solved, and unmanned and full-automatic operation is achieved.

Description

Technical Field

[0001] The utility model relates to the field of steel flaw detection, in particular to an intelligent sample storage and online and offline system for steel flaw detection. Background Art

[0002] Before flaw detection of steel (steel pipes or steel bars), it is necessary to calibrate the flaw detection equipment with samples of the same specifications (sample pipes or sample bars) with standard flaws engraved on them. Only after the flaw detection equipment is calibrated can the steel be normally flaw detected. When there are many specifications of steel, many samples need to be prepared. At present, production enterprises generally use conventional shelves to store samples, and use cranes to lift samples on and off the flaw detection production line. This method not only occupies the effective area in the factory, but is also restricted by the lifting capacity of the crane. When the specifications of steel change frequently, the flaw detectors need a lot of energy to lift the samples, and the flaw detection equipment needs to wait for the samples for a long time, and the effective operation rate is low.

[0003] Therefore, there is a need for an intelligent storage and loading and unloading system for samples used in steel flaw detection. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent storage and loading and unloading system for samples used for steel flaw detection, which realizes the fully automatic and unmanned storage and transportation of samples, greatly improves the operation rate of flaw detection equipment, and reduces the labor intensity of operators.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An intelligent storage and loading and unloading system for samples used in steel flaw detection, including:

[0007] A three-dimensional shelf for storing the samples;

[0008] A cache rack, used for temporarily storing the samples that are taken out of the library and / or returned to the library;

[0009] A stacker, used for transporting the samples between the three-dimensional shelf and the cache rack;

[0010] A manipulator station, used for temporarily storing the samples to be inspected or after inspection;

[0011] An intelligent transport vehicle, used for transporting the sample between the cache rack and the manipulator station;

[0012] A sample inspection table, used for inspecting the sample;

[0013] A mechanical arm, used for clamping and transferring the sample between the sample verification platform and the mechanical arm platform;

[0014] A host computer is installed with an intelligent stereoscopic warehouse management subsystem, and the host computer is used to control the operation of the stacker, the intelligent transport vehicle and the mechanical arm.

[0015] Furthermore, in the above-mentioned intelligent storage and loading and unloading system for samples used for steel flaw detection, the three-dimensional shelves are located on both sides of the aisle, the three-dimensional shelves are arranged with single-row cargo spaces or double-row cargo spaces, and the stacker is a rail-mounted aisle stacker.

[0016] Furthermore, in the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection, the samples are sample tubes or sample rods of the steel, each of the samples is provided with a number, and the number of the sample is bound to the storage location number of the three-dimensional shelf; when the sample is shipped out of the warehouse, the host computer controls the stacker to ship out the sample according to the storage location where the sample is located; when the sample is returned to the warehouse, the host computer reallocates the storage location or uses the stacker to send the sample to the original storage location for storage.

[0017] Furthermore, in the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection, a bracket is provided on the manipulator platform, and a V-shaped groove is provided on the upper surface of the bracket along the axial direction of the sample, and the bottom of the sample is located in the groove, and the bracket provides stable support for the sample that has been inspected or to be inspected on the manipulator platform.

[0018] Furthermore, in the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection, two rotating rollers are arranged on the sample inspection table, and the sample is placed on the two rotating rollers, and the rotation of the rotating rollers can drive the sample to rotate.

[0019] Furthermore, in the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection, stoppers are provided on the sample inspection table and at both ends of the sample, and the stoppers can prevent the sample from axial movement.

[0020] Furthermore, the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection also includes a camera, which is arranged on one side of the cache stand, and the number is engraved on the end face of the sample. The camera takes a picture of the end face of the sample and identifies the number; the camera is connected to the host computer.

[0021] Furthermore, in the above-mentioned intelligent storage and loading and unloading system of samples for steel flaw detection, by taking a picture of the end face of the sample, the camera measures the outer diameter and inner diameter of the sample and can calculate the wall thickness of the sample.

[0022] Furthermore, the above-mentioned intelligent storage and online and offline system for samples used for steel flaw detection also includes a distance measuring sensor, which is connected to the host computer. Two distance measuring sensors are provided, and the two distance measuring sensors are respectively arranged on both sides of the cache stand. The distance between one distance measuring sensor and one end face of the sample is L1, and the distance between the other distance measuring sensor and the other end face of the sample is L2. The distance between the two distance measuring sensors is L3, and the length of the sample L=L3-L1-L2.

[0023] It can be seen from the analysis that the utility model discloses an intelligent storage and loading and unloading system for samples used for steel flaw detection. The system combines an intelligent stereoscopic warehouse, AGV and a mechanical arm to realize fully automatic storage, transportation and loading and unloading of samples, completely solving the constraints of crane lifting and realizing unmanned and fully automatic operation. The unmanned feature of the system is that the samples can be taken out and returned to the warehouse when the flaw detection equipment is performing normal flaw detection, which greatly improves the effective operation rate of the flaw detection equipment, and simultaneously realizes the three-dimensional standardized storage of samples, freeing up effective space in the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Among them:

[0025] Figure 1 This is a structural schematic diagram of the arrangement of a manipulator station, a sample verification table and a manipulator arm according to an embodiment of the present invention.

[0026] Figure 2 The figure is a schematic structural diagram of the arrangement of a camera and a distance measuring sensor according to an embodiment of the present invention.

[0027] Figure 3 This is a flow chart of sample out of the warehouse according to one embodiment of the utility model.

[0028] Figure 4 This is a flow chart of sample storage according to an embodiment of the present invention.

[0029] Explanation of the reference numerals: 1. Robot platform; 2. Sample verification platform; 3. Robot arm; 4. Sample; 5. Bracket; 6. Rotating roller; 7. Stopper; 8. Camera; 9. Distance measuring sensor; 10. Cache stand. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention includes such modifications and variations within the scope of the appended claims and their equivalents.

[0031] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components; they can be wired electrical connections, radio connections, or wireless communication signal connections. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0032] One or more examples of the utility model are shown in the attached drawings. The detailed description uses numbers and letters to refer to the features in the drawings. Similar or similar marks in the drawings and descriptions have been used to refer to similar or similar parts of the utility model. As used herein, the terms "first", "second", and "third" etc. are used interchangeably to distinguish one component from another, and are not intended to indicate the position or importance of individual components.

[0033] like Figures 1 to 4As shown, according to an embodiment of the utility model, there is provided a sample intelligent storage and loading and unloading system for steel flaw detection, including: a three-dimensional shelf, the three-dimensional shelf is used to store samples 4. A cache stand 10, the cache stand 10 is used to temporarily store samples 4 that are out of the warehouse and / or returned to the warehouse. A stacker, the stacker is used to transport samples 4 between the three-dimensional shelf and the cache stand 10. A manipulator platform 1, the manipulator platform 1 is used to temporarily store samples 4 to be inspected or inspected. An intelligent transport vehicle, the intelligent transport vehicle is used to transport samples 4 between the cache stand 10 and the manipulator platform 1. A sample verification table 2, the sample verification table 2 is used to inspect the sample 4. A robotic arm 3, used to clamp and deliver the sample 4 between the sample verification table 2 and the manipulator platform 1. A host computer, the host computer is equipped with an intelligent three-dimensional warehouse management subsystem, and the host computer is used to control the operation of the stacker, the intelligent transport vehicle and the robotic arm 3. The system combines three-dimensional shelves, intelligent transport vehicles and robotic arms 3 to realize fully automatic storage, transfer, and up / down flaw detection lines for samples 4, completely solving the constraints of crane lifting and realizing unmanned and fully automatic operation.

[0034] Furthermore, the storage of sample 4 adopts aisle-type stereoscopic shelves, which are located on both sides of the aisle. The stereoscopic shelves are arranged with single-row or double-row cargo spaces, and the stacker is a rail-type aisle-type stacker. Sample 4 can automatically enter and exit the cargo space through the rail-type aisle-type stacker. The stereoscopic shelves can realize the three-dimensional and standardized storage of sample 4, freeing up the effective space of the factory.

[0035] Furthermore, the sample 4 is a sample tube or sample rod of the steel material 4, and each sample 4 is provided with a number, and each sample 4 corresponds to a number, which is the unique identification feature of the sample 4, and the number of the sample 4 is bound to the storage location number of the three-dimensional shelf; when a new sample 4 enters the warehouse, the allocation of the cargo location is automatically completed by the three-dimensional warehouse management subsystem (WCS) on the host computer, and the sample 4 number is bound to the storage location number. When the sample 4 is out of the warehouse, the host computer controls the stacker to carry out the outbound shipment according to the storage location where the sample 4 is located. The operator only needs to select the number of the required sample 4 on the host computer, and the three-dimensional warehouse management subsystem (WCS) automatically controls the stacker to carry out the outbound shipment according to the storage location where the sample 4 is located. After the sample 4 is out of the warehouse, the stacker places the sample 4 on the cache rack 10, and then uses the intelligent transport vehicle (AGV) to automatically transport the sample 4 to the manipulator platform 1 next to the robot arm 3, so as to realize the automatic connection with the stacker and the robot arm 3. When sample 4 is returned to the warehouse, the warehouse management subsystem (WCS) of the host computer automatically reallocates the storage location or uses the stacker to send sample 4 to the original storage location for storage.

[0036] Furthermore, if Figure 1 As shown, a bracket 5 is provided on the robot platform 1, and a V-shaped groove is provided on the upper surface of the bracket 5 along the axial direction of the sample 4. The bottom of the sample 4 is located in the groove. The bracket 5 provides stable support for the sample 4 that has been tested or is to be tested on the robot platform 1.

[0037] Furthermore, the robot arm 3 is a heavy-duty robot with multi-axis linkage. After the sample 4 reaches the robot station 1, the robot arm 3 clamps the sample 4 from both ends through the clamp, and then places the sample 4 on the sample verification table 2 after rotating it for a certain angle. The sample verification table 2 is provided with two rotating rollers 6. The sample 4 is placed on the two rotating rollers 6. The rotation of the rotating rollers 6 can drive the sample 4 to rotate.

[0038] Furthermore, stoppers 7 are provided on the sample verification table 2 and at both ends of the sample 4 , and the stoppers 7 can prevent the sample 4 from axial movement.

[0039] Furthermore, if Figure 2 As shown, the system further includes a camera 8, which is arranged on one side of the buffer stand 10, and the number is engraved on the end face of the sample 4. The camera 8 takes a picture of the end face of the sample 4 and identifies the number; the camera 8 is connected to the host computer. When the sample 4 is put into or taken out of the warehouse, the camera 8 takes a picture of the end face of the sample 4, and then identifies the number of the sample 4.

[0040] Furthermore, by taking a photo of the end face of the sample 4, the camera 8 measures the outer diameter and inner diameter of the sample 4 and can calculate the wall thickness of the sample 4. The camera 8 is arranged on one side of the end face of the sample 4. The camera 8 takes a photo of the end face of the sample 4, processes the photo through the AI ​​algorithm, calculates the outer diameter and inner diameter of the sample 4, and then calculates the wall thickness of the sample 4. The system also includes a distance sensor 9, which is a laser distance sensor 9. The distance sensor 9 is connected to the host computer. There are two distance sensors 9. The two distance sensors 9 are respectively arranged on both sides of the cache stand 10. The distance between one distance sensor 9 and one end face of the sample 4 is L1, and the distance between the other distance sensor 9 and the other end face of the sample 4 is L2. The distance between the two distance sensors 9 is L3, and the length L of the sample 4 is L3-L1-L2. In order to ensure the safety of the equipment during the process of sample 4 entering and leaving the warehouse, before the sample 4 enters the warehouse, the length, outer diameter, wall thickness and other dimensions of the sample 4 are measured to prevent the sample 4 with a size exceeding the range from entering the stereoscopic warehouse and causing equipment accidents.

[0041] The method for calibrating the flaw detection equipment using the above-mentioned sample 4 intelligent storage and online and offline systems for flaw detection of steel materials 4 comprises the following steps:

[0042] S1, sample out of warehouse:

[0043] S11, the host computer sends the outbound instruction to the stacker, and the outbound instruction includes the sample 4 number, specification and storage location number to be outbound;

[0044] S12, the stacker delivers the corresponding sample 4 to the cache rack 10 according to the storage location number, and the host computer identifies the number at the end of the sample tube through the camera 8, and compares and confirms it with the sample 4 number in the outbound instruction, and notifies the intelligent transport vehicle after confirmation;

[0045] S13, the intelligent transport vehicle goes to the cache rack 10 to take the sample 4, and automatically transports it to the cache rack 10 next to the sample verification table 2, waiting to go online;

[0046] S14, when the flaw detection of the previous batch of steel 4 is completed and the sample 4 needs to be used for verification, the robot arm 3 clamps the sample 4 on the cache stand 10 and sends it to the sample verification table 2, and uses the sample 4 to calibrate the flaw detection equipment on the sample verification table 2.

[0047] S2, sample storage:

[0048] S21, the host computer operates the sample 4 to go offline, the robot arm 3 clamps the sample 4 on the sample inspection table 2 and sends it to the buffer stand 10, and uses the flaw detection equipment to perform flaw detection on the steel 4;

[0049] S22, the host computer sends a return instruction to the intelligent transport vehicle;

[0050] S23, the intelligent transport vehicle goes to the cache rack 10 next to the sample verification table 2 to take the sample 4, and transports the sample 4 to the cache rack 10;

[0051] S24, the host computer identifies the number of the sample 4 on the cache rack 10 through the camera 8, and compares it with the warehouse instruction, synchronously measures the outer diameter and inner diameter of the sample 4, and then calculates the wall thickness of the sample 4. The distance sensor 9 measures the length and position of the sample 4, and notifies the stacker after confirmation.

[0052] S25, the stacker takes the sample 4 from the buffer rack 10 and stores it in the three-dimensional shelf.

[0053] Preferably, the three-dimensional warehouse management subsystem (WCS) is also provided with "online" and "return to warehouse" functions. When the sample 4 needs to be used for verification, the operator confirms "online" on the screen of the three-dimensional warehouse management subsystem (WCS) after confirming safety, and the host computer controls the mechanical arm 3 to perform the online operation. If the operator believes that the return to warehouse operation is necessary, the "return to warehouse" command is clicked on the screen of the three-dimensional warehouse management subsystem (WCS), and the host computer controls the intelligent transport vehicle to return the sample 4 to the warehouse.

[0054] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0055] A sample intelligent storage and loading and unloading system for steel flaw detection, which combines an intelligent stereoscopic warehouse, AGV and a mechanical arm 3 to realize fully automatic storage, transportation, loading and unloading of samples 4, completely solving the constraints of crane hoisting, and realizing unmanned and fully automatic operation. The unmanned feature of the system is that the sample 4 can be taken out and returned to the warehouse when the flaw detection equipment is performing normal flaw detection, which greatly improves the effective operation rate of the flaw detection equipment, and simultaneously realizes the stereoscopic standardized storage of samples 4, freeing up effective space in the factory.

[0056] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An intelligent storage and loading and unloading system for samples used for steel flaw detection, characterized in that: include: A three-dimensional shelf for storing the samples; A cache rack, used for temporarily storing the samples that are taken out of the library and / or returned to the library; A stacker, used for transporting the samples between the three-dimensional shelf and the cache rack; A manipulator station, used for temporarily storing the samples to be inspected or after inspection; An intelligent transport vehicle, used for transporting the sample between the cache rack and the manipulator station; A sample inspection table, used for inspecting the sample; A mechanical arm, used for clamping and transferring the sample between the sample verification platform and the mechanical arm platform; A host computer is installed with an intelligent stereoscopic warehouse management subsystem, and the host computer is used to control the operation of the stacker, the intelligent transport vehicle and the mechanical arm.

2. The intelligent storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: The three-dimensional shelves are located at both sides of the lane, and the three-dimensional shelves are arranged with single-row cargo spaces or double-row cargo spaces. The stacker is a rail-mounted lane-type stacker.

3. The intelligent storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: The sample is a sample tube or sample rod of the steel material, each of which is provided with a number, and the number of the sample is bound to the storage location number of the three-dimensional shelf; When the sample is shipped out of the warehouse, the host computer controls the stacker to ship the sample out of the warehouse according to the warehouse location; when the sample is returned to the warehouse, the host computer reallocates the warehouse location or uses the stacker to send the sample to the original warehouse location for storage.

4. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: The manipulator platform is provided with a bracket, and a V-shaped groove is provided on the upper surface of the bracket along the axial direction of the sample. The bottom of the sample is located in the groove, and the bracket provides stable support for the sample that has been tested or is to be tested on the manipulator platform.

5. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: The sample checking table is provided with two rotating rollers, the sample is placed on the two rotating rollers, and the rotation of the rotating rollers can drive the sample to rotate.

6. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: Stoppers are arranged on the sample checking platform and at both ends of the sample, and the stoppers can prevent the sample from axial movement.

7. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 3 is characterized in that: It also includes a camera, which is arranged on one side of the cache rack, the number is engraved on the end surface of the sample, and the camera takes a picture of the end surface of the sample and identifies the number; The camera is connected to the host computer.

8. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 7 is characterized in that: By taking a picture of the end face of the sample, the camera measures the outer and inner diameters of the sample and can calculate the wall thickness of the sample.

9. The intelligent sample storage and loading and unloading system for steel flaw detection according to claim 1 is characterized in that: It also includes a distance measuring sensor, which is connected to the host computer. Two distance measuring sensors are provided, and the two distance measuring sensors are respectively arranged on both sides of the cache stand. The distance between one distance measuring sensor and one end face of the sample is L1, the distance between the other distance measuring sensor and the other end face of the sample is L2, the distance between the two distance measuring sensors is L3, and the length of the sample L=L3-L1-L2.

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