Efficient iron can inner wall impurity self-checking and cleaning device

Abstract

The utility model discloses an efficient self-inspection cleaning device for impurities on the inner wall of an iron can, and belongs to the technical field of can body cleaning devices. The cleaning device is used for solving the problem that existing cleaning equipment cannot efficiently and accurately detect and clean impurities on the inner wall of an iron can. An upper-layer operation plate and a lower-layer operation plate are arranged above and below the operation table, a first through hole and a second through hole are formed in the upper-layer operation plate, the cleaning mechanism and the drying mechanism are arranged at the first through hole and the second through hole respectively, the conveying unit is arranged on one side of the operation table, the detection unit is arranged between the conveying unit and the operation table, and the pushing unit is arranged on the upper-layer operation plate. The fixed end of the clamping mechanical arm is installed in the middle of the upper-layer operation plate, the movable end of the clamping mechanical arm is provided with a manipulator, the controller is arranged on the lower-layer operation plate, and the conveying unit, the detection unit, the operation table, the pushing unit and the clamping mechanical arm are all in signal connection with the controller. The device can save labor, improve working efficiency, prevent the iron can from being corroded, prolong the service life of the iron can, achieve secondary self-inspection, avoid incomplete impurity cleaning and is high in practicability.

Description

Technical Field

[0001] The utility model belongs to the technical field of tank cleaning devices, and in particular relates to a high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron tank. Background Art

[0002] With the rapid development of industrial production, iron cans, as important packaging containers, have been widely used in food, chemical, pharmaceutical and other fields. However, in the production process, some impurities are often inevitably left on the inner wall of the iron can. The impurities not only affect the appearance quality of the iron can, but also may pollute the packaged items, thereby affecting the safety and quality of the product. Therefore, how to efficiently and accurately detect and clean the impurities on the inner wall of the iron can has become an urgent problem to be solved. The traditional method of cleaning impurities on the inner wall of the iron can mainly relies on manual operation. However, this method has many disadvantages: first, it is inefficient, and manual operation is difficult to ensure the uniformity and thoroughness of cleaning; second, the labor intensity is high, the working environment is poor, and it poses a potential threat to the health of workers; third, the cleaning quality is unstable and easily affected by human factors. In recent years, with the continuous development of automation technology, some automated cleaning equipment has begun to be used for cleaning impurities on the inner wall of the iron can. However, these devices often have problems such as complex structure, cumbersome operation, and high maintenance cost, which are difficult to be widely promoted in actual production. Utility Model Content

[0003] The utility model aims to provide a highly efficient self-checking and cleaning device for impurities on the inner wall of an iron can, so as to solve the above-mentioned problems existing in the background technology.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the utility model is as follows: a high-efficiency self-inspection and cleaning device for impurities on the inner wall of an iron can, comprising a conveying unit, a detection unit, an operating table, a pushing unit, a controller and a clamping mechanical arm, wherein a cleaning mechanism and a drying mechanism are arranged on the operating table, and two operating panels are arranged above and below the operating table, namely an upper operating panel and a lower operating panel, and the upper operating panel has two through holes, namely through hole one and through hole two, and the cleaning mechanism and the drying mechanism are arranged at through hole one and through hole two, respectively; the conveying unit is arranged on one side of the operating table, and the detection unit is arranged between the conveying unit and the operating table, and the pushing unit is arranged on the upper operating panel and used in conjunction with the conveying unit and the detection unit, and the fixed end of the clamping mechanical arm is installed in the middle of the upper operating panel, and a manipulator is arranged at the movable end of the clamping mechanical arm, and the controller is arranged on the lower operating panel, and the conveying unit, the detection unit, the operating table, the pushing unit and the clamping mechanical arm are all connected with the controller signal.

[0005] Furthermore, the conveying unit includes a conveying line and an output line. The front end of the conveying line and the rear end of the output line are arranged in parallel. An opening is provided on the side of the front end of the frame of the conveying line at a position corresponding to the pushing unit. Both the conveying line and the output line are connected to the controller signal.

[0006] Furthermore, the detection unit includes a bracket, an electric telescopic rod, a camera and a distance sensor. The bracket is arranged at the front end of the conveyor line, the electric telescopic rod is arranged vertically downward, the fixed end of the electric telescopic rod is fixedly connected to the bracket, the telescopic end of the electric telescopic rod is installed with a camera and a distance sensor, the electric telescopic rod is located above the front end opening of the conveyor line, and the camera and the distance sensor are both connected to the controller signal.

[0007] Furthermore, the pushing unit includes a telescopic motor and a push plate. The telescopic end of the telescopic motor is fixed with a push plate and is arranged corresponding to the front end opening of the conveyor line. The fixed end of the telescopic motor is installed on the upper operating panel. The telescopic motor is connected to the controller signal.

[0008] Furthermore, the cleaning mechanism includes a fastening component 1 and a cleaning component, wherein the fastening component 1 is fixed on the upper operating panel and is located outside the through hole 1, and the cleaning component is fixed on the lower operating panel and is located below the through hole 1.

[0009] Furthermore, the fastening component 1 includes a hollow fixed column, a telescopic motor 2, a movable disk, a fixed ring and a vacuum suction cup. The hollow fixed column is arranged toward the side wall opening of the clamping robot arm and is concentrically sleeved on the outside of the through hole 1. The fixed ring is fixed on the through hole 1. The telescopic motor 2 is fixed to the upper end of the hollow fixed column. The telescopic end of the telescopic motor 2 passes through the hollow fixed column and is fixedly connected to the upper end of the movable disk. A vacuum suction cup is fixed to the lower end of the movable disk. The movable disk can move up and down in the cavity of the hollow fixed column through the telescopic motor 2. The telescopic motor 2 and the vacuum suction cup are both connected to the controller signal.

[0010] Furthermore, the cleaning component includes a cleaning bucket, a telescopic rotating motor and a cleaning brush. The cleaning bucket is arranged between the upper operating panel and the lower operating panel and is located below the through hole. A water outlet is opened on the side wall of the cleaning bucket, and the water outlet is externally connected to a wastewater recovery device. The telescopic rotating motor is fixed to the lower end of the lower operating panel. The rotating shaft of the telescopic rotating motor slides through the lower operating panel and the bottom surface of the cleaning bucket and is fixedly connected to the lower end of the cleaning brush. The cleaning brush is externally connected to a water spraying device. The telescopic rotating motor can drive the cleaning brush to pass through the through hole and move up and down in the cavity of the hollow fixed column of the fastening component. The telescopic rotating motor is connected to the controller signal.

[0011] Furthermore, the drying mechanism includes a second fastening component and a drying component, wherein the second fastening component is fixed on the upper operating panel and is located outside the second through hole, and the drying component is fixed on the lower operating panel and is located below the second through hole.

[0012] Furthermore, the fastening component 2 has the same structure as the fastening component 1, and the fastening component 2 is fixed on the outside of the through hole 2.

[0013] Furthermore, the drying component includes a telescopic rotating motor 2, a temperature sensor and multiple heating plates. The telescopic rotating motor 2 is fixed to the upper end of the lower operating panel. The rotating shaft of the telescopic rotating motor 2 slides through the upper operating panel. Multiple heating plates are evenly distributed on the side wall of the upper end of the rotating shaft. A temperature sensor is fixed to the upper end of the rotating shaft. Under the action of the telescopic rotating motor 2, the multiple heating plates can move up and down in the cavity of the hollow fixed column of the fastening component 2. The telescopic rotating motor 2, the temperature sensor and the multiple heating plates are all connected to the controller signal.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model can automatically detect and clean impurities on the inner wall of the iron can without manual operation, which can save labor and improve work efficiency.

[0016] 2. The utility model can not only clean the impurities on the inner wall of the iron can, but also dry the inside of the iron can after cleaning, effectively preventing the corrosion of the inner wall of the iron can and prolonging the service life of the iron can.

[0017] 3. The utility model can perform self-inspection again after cleaning and drying the iron can, so as to avoid incomplete cleaning of impurities on the inner wall of the iron can, and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model;

[0019] Figure 2 It is a top view of the utility model;

[0020] Figure 3 This is the structure diagram of the operating table. Figure 1 ;

[0021] Figure 4 This is the structure diagram of the operating table. Figure 1 ;

[0022] Figure 5 It is a cross-sectional view of the operating table;

[0023] Figure 6 yes Figure 1 Enlarged view of point A.

[0024] The names and reference numerals of the components involved in the above drawings are as follows:

[0025] 1. Conveying unit; 2. Detection unit; 3. Operating table; 4. Pushing unit; 5. Controller; 6. Clamping robot arm; 7. Robot; 8. Cleaning mechanism; 9. Drying mechanism; 10. Upper operating panel; 11. Lower operating panel; 12. Through hole 1; 13. Through hole 2; 14. Conveying line; 15. Output line; 16. Opening; 17. Bracket; 18. Electric telescopic rod; 19. Camera; 20. Distance sensor; 21. Telescopic motor 1; 22. Push plate; 23. Fastening component 1; 24. Cleaning component; 25. Hollow fixed column; 26. Telescopic motor 2; 27. Movable disk; 28. Fixed ring; 29. ​​Vacuum suction cup; 30. Cleaning bucket; 31. Telescopic rotating motor 1; 32. Cleaning brush; 33. Fastening component 2; 34. Drying component; 35. Telescopic rotating motor 2; 36. Temperature sensor; 37. Heating plate; 38. Water outlet; 39. Iron can. DETAILED DESCRIPTION

[0026] The technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0027] Specific implementation method 1: Figure 1-Figure 6 As shown, the present embodiment discloses a high-efficiency self-inspection and cleaning device for impurities on the inner wall of an iron can, comprising a conveying unit 1, a detection unit 2, an operating table 3, a pushing unit 4, a controller 5 and a clamping mechanical arm 6, wherein a cleaning mechanism 8 and a drying mechanism 9 are arranged on the operating table 3, and two operating panels are arranged above and below the operating table 3, namely, an upper operating panel 10 and a lower operating panel 11, wherein the upper operating panel 10 has two through holes, namely, through hole 12 and through hole 2 13, wherein the cleaning mechanism 8 and the drying mechanism 9 are arranged at through hole 12 and through hole 2 13, respectively, wherein the conveying unit 1 is arranged on one side of the operating table 3, wherein the detection unit 2 is arranged between the conveying unit 1 and the operating table 3, wherein the pushing unit 4 is arranged on the upper operating panel 10 and cooperates with the conveying unit 1 and the detection unit 2, wherein the fixed end of the clamping mechanical arm 6 is installed in the middle of the upper operating panel 10, wherein a manipulator 7 is arranged at the movable end of the clamping mechanical arm 6, wherein the controller 5 is arranged on the lower operating panel 11, and the conveying unit 1, the detection unit 2, the operating table 3, the pushing unit 4 and the clamping mechanical arm 6 are all connected to the controller 5 by signal.

[0028] Furthermore, the conveying unit 1 includes a conveying line 14 and an output line 15, the front end of the conveying line 14 and the rear end of the output line 15 are arranged in parallel, and an opening 16 is provided at the front end side of the frame of the conveying line 14 corresponding to the position of the pushing unit 4, and the conveying line 14 and the output line 15 are both connected to the controller 5 by signal.

[0029] Furthermore, the detection unit 2 includes a bracket 17, an electric telescopic rod 18, a camera 19 and a distance sensor 20. The bracket 17 is arranged at the front end of the conveyor line 14, and the electric telescopic rod 18 is arranged vertically downward. The fixed end of the electric telescopic rod 18 is fixedly connected to the bracket 17, and the telescopic end of the electric telescopic rod 18 is installed with a camera 19 and a distance sensor 20. The electric telescopic rod 18 is located above the front end opening 16 of the conveyor line 14, and the camera 19 and the distance sensor 20 are both connected to the controller 5 signal.

[0030] Furthermore, the pushing unit 4 includes a telescopic motor 21 and a push plate 22. The telescopic end of the telescopic motor 21 is fixed with the push plate 22 and is arranged corresponding to the front end opening 16 of the conveyor line 14. The fixed end of the telescopic motor 21 is installed on the upper operating panel 10. The telescopic motor 21 is connected to the controller 5 by signal.

[0031] Furthermore, the cleaning mechanism 8 includes a fastening component 23 and a cleaning component 24, wherein the fastening component 23 is fixed on the upper operating panel 10 and is located outside the through hole 12, and the cleaning component 24 is fixed on the lower operating panel 11 and is located below the through hole 12.

[0032] Furthermore, the fastening assembly 23 includes a hollow fixed column 25, a telescopic motor 26, a movable disk 27, a fixed ring 28 and a vacuum suction cup 29. The hollow fixed column 25 is arranged toward the side wall opening of the clamping robot arm 6 and is concentrically sleeved on the outside of the through hole 12. The fixed ring 28 is fixed on the through hole 12. The telescopic motor 26 is fixed to the upper end of the hollow fixed column 25. The telescopic end of the telescopic motor 26 passes through the hollow fixed column 25 and is fixedly connected to the upper end of the movable disk 27. A vacuum suction cup 29 is fixed to the lower end of the movable disk 27. The movable disk 27 can move up and down in the cavity of the hollow fixed column 25 through the telescopic motor 26. The telescopic motor 26 and the vacuum suction cup 29 are both connected to the controller 5 signal.

[0033] Furthermore, the cleaning component 24 includes a cleaning bucket 30, a telescopic rotating motor 31 and a cleaning brush 32. The cleaning bucket 30 is arranged between the upper operating panel 10 and the lower operating panel 11 and is located below the through hole 12. A water outlet 38 is opened on the side wall of the cleaning bucket 30, and the water outlet 38 is externally connected to a wastewater recovery device. The telescopic rotating motor 31 is fixed to the lower end of the lower operating panel 11. The rotating shaft of the telescopic rotating motor 31 slides through the lower operating panel 11 and the bottom surface of the cleaning bucket 30 and is fixedly connected to the lower end of the cleaning brush 32. The cleaning brush 32 is externally connected to a water spraying device. The telescopic rotating motor 31 can drive the cleaning brush 32 to pass through the through hole 12 and move up and down in the cavity of the hollow fixed column 25 of the fastening component 23. The telescopic rotating motor 31 is connected to the controller 5 signal.

[0034] Furthermore, the drying mechanism 9 includes a second fastening component 33 and a drying component 34 , wherein the second fastening component 33 is fixed on the upper operating panel 10 and is located outside the second through hole 13 , and the drying component 34 is fixed on the lower operating panel 11 and is located below the second through hole 13 .

[0035] Furthermore, the fastening component 2 33 has the same structure as the fastening component 1 23 , and the fastening component 2 33 is fixed on the outside of the through hole 2 13 .

[0036] Furthermore, the drying component 34 includes a telescopic rotating motor 2 35, a temperature sensor 36 and a plurality of heating plates 37. The telescopic rotating motor 2 35 is fixed at the upper end of the lower operating panel 11. The rotating shaft of the telescopic rotating motor 2 35 slides through the upper operating panel 10. The upper end side wall of the rotating shaft is evenly provided with a plurality of heating plates 37. The temperature sensor 36 is fixed at the upper end of the rotating shaft. Under the action of the telescopic rotating motor 2 35, the plurality of heating plates 37 can move up and down in the cavity of the hollow fixed column 25 of the fastening component 2 33. The telescopic rotating motor 2 35, the temperature sensor 36 and the plurality of heating plates 37 are all connected to the controller 5 signal.

[0037] During operation, the mouth of the iron can 39 faces upward, and the controller 5 controls the conveying unit 1 to start. The iron can 39 is conveyed to the opening 16 at the front end of the conveying line 14 through the conveying line 14 of the conveying unit 1 and then stops conveying (the conveying line 14 can be conveyed by belt conveying, roller conveying, chain conveying, pneumatic conveying and other conveying methods). The controller 5 controls the electric telescopic rod 18 of the detection unit 2 to extend downward until it is inside the iron can 39. At this time, the camera 19 and the distance sensor 20 transmit the impurity situation on the inner wall of the iron can 39 and the depth of the can body to the controller 5 through signals. The controller 5 receives the signal and analyzes it. If there is no impurity on the inner wall of the iron can 39 and no cleaning operation is required, the controller 5 controls the electric telescopic rod 18 to retract and controls the pushing unit 4 to start. The telescopic motor of the pushing unit 4 is The telescopic rod 21 is extended, and the iron can 39 is pushed from the conveying line 14 of the conveying unit 1 to the output line 15 through the push plate 22 at the front end of the telescopic rod. Then the controller 5 controls the output line 15 to output the iron can 39 to the port of the output line 15 for subsequent processing. If there are impurities on the inner wall of the iron can 39 and the impurity cleaning operation is required, the controller 5 controls the electric telescopic rod 18 to retract and control the clamping mechanical arm 6 to start. The clamping mechanical arm 6 drives the manipulator 7 to clamp the iron can 39 from the conveying line 14 to the fastening component 23 of the cleaning mechanism 8. During the movement, the controller 5 controls the manipulator 7 to invert the iron can 39, turn the can mouth of the iron can 39 downward, and place the can mouth of the iron can 39 on the fixing ring 28 of the fastening component 23. At this time, the controller 5 controls the telescopic electric arm 18 of the fastening component 23 to start the cleaning operation. The telescopic rod of the machine 26 extends out, driving the movable plate 27 to move downward until the vacuum suction cup 29 at the lower end of the movable plate 27 contacts the lower bottom surface of the iron can 39, and the controller 5 controls the vacuum suction cup 29 to adsorb the iron can 39. At this time, the upper and lower ends of the iron can 39 are fixed by the fastening component 1 23 to prevent the iron can 39 from being displaced during the cleaning operation. Afterwards, the controller 5 controls the telescopic rotating motor 1 31 (the telescopic rotating motor 1 31 can be implemented by a linear servo motor, a stepping motor with a slide, a DC motor or an AC motor with a telescopic mechanism or an integrated telescopic rotating device) of the cleaning component 24 of the cleaning mechanism 8 to extend the telescopic rod, thereby driving the cleaning brush 32 to extend upward, and the cleaning brush 32 passes through the cleaning barrel 30 and through the through hole 12 and then extends into the tank body. At this time, the external water spraying equipment cleans the impurities on the inner wall of the iron can 39 by rotating and spraying the cleaning brush 32. Since the controller 5 collects the tank depth information of the iron can 39, it can effectively control the position of the cleaning brush 32 in the iron can 39, which can not only ensure the effective cleaning of the inner wall of the tank but also the cleaning of the tank bottom wall, thereby ensuring the cleaning effect of the iron can 39. The cleaned waste water is recycled through the water outlet 38 on the side wall of the cleaning barrel 30 through the external waste water recycling equipment to prevent waste water pollution. After the cleaning operation is completed, the controller 5 controls the telescopic rod of the telescopic rotating motor 31 of the cleaning component 24 to retract, thereby driving the cleaning brush 32 to retract downward, and the cleaning brush 32 withdraws from the iron can 39 and passes through the through hole 12 and then retracts into the cleaning barrel 30. After that,The controller 5 controls the telescopic rod of the telescopic motor 26 of the fastening component 1 23 to retract, driving the movable plate 27 to move upward until the mouth of the iron can 39 is out of contact with the fixing ring 28. The controller 5 controls the manipulator 7 of the clamping robot arm 6 to clamp the cleaned iron can 39, and then controls the vacuum suction cup 29 to ventilate. At this time, the iron can 39 and the vacuum suction cup 29 are in a non-fastened state. Then, the manipulator 7 of the clamping robot arm 6 moves the cleaned iron can 39 to the fastening component 2 33 of the drying mechanism 9, and after fastening the iron can 39 in the same fastening manner as the fastening component 1 23, the controller 5 controls the telescopic rod of the telescopic rotating motor 2 35 of the drying component 34 (the telescopic rotating motor 2 35 has the same structure as the telescopic rotating motor 1 31) to extend, thereby driving the multiple heating plates 37 at the upper end of the telescopic rod to extend upward. The multiple heating plates 37 pass through the through hole 2 13 and extend into the tank body. The controller 5 controls the heating plates 37 to heat and rotate, and through the temperature The temperature sensor 36 detects the temperature and transmits the signal. The controller 5 regulates the temperature of the heating plate 37 to ensure that the drying mechanism 9 can perform the drying operation efficiently without damaging the can body. After the drying operation is completed, the controller 5 controls the telescopic rod of the telescopic rotating motor 2 35 of the drying component 34 to retract, thereby driving the heating plate 37 to retract downward. The heating plate 37 withdraws from the iron can 39 and passes through the through hole 2 13 and then retracts to the initial position. After that, the iron can 39 is transferred to the manipulator 7 of the clamping manipulator 6 in the same way as the fastening component 1 23, and the dried iron can 39 is moved to the conveying line 14 of the conveying unit 1 by the manipulator 7. During the movement, the controller 5 controls the manipulator 7 to invert the iron can 39 again, and sets the can mouth of the iron can 39 upward again, and repeats the impurity self-inspection operation of the iron can 39 until the inspection is qualified, and the iron can 39 is pushed to the output line 15 of the conveying unit 1 by the pushing unit 4.

[0038] During the whole process, the conveying unit 1, the detection unit 2, the cleaning mechanism 8 and the drying mechanism 9 of the operating table 3 and the pushing unit 4 can each operate different steps simultaneously, and the overall operation is controlled by the controller 5, so the overall working efficiency is high and the impurity cleaning quality is good.

[0039] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent conditions of the claims are included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An efficient self-checking and cleaning device for impurities on the inner wall of an iron can, characterized by: The invention comprises a conveying unit (1), a detection unit (2), an operating table (3), a pushing unit (4), a controller (5) and a clamping mechanical arm (6); the operating table (3) is provided with a cleaning mechanism (8) and a drying mechanism (9); the operating table (3) is provided with two operating panels, namely an upper operating panel (10) and a lower operating panel (11); the upper operating panel (10) has two through holes, namely through hole 1 (12) and through hole 2 (13); the cleaning mechanism (8) and the drying mechanism (9) are respectively arranged at through hole 1 (12) and through hole 2 (13); the conveying unit (1) is arranged at the operating panel The detection unit (2) is arranged on one side of the platform (3), between the conveying unit (1) and the operating platform (3), the pushing unit (4) is arranged on the upper operating panel (10) and is used in conjunction with the conveying unit (1) and the detection unit (2), the fixed end of the clamping mechanical arm (6) is installed in the middle of the upper operating panel (10), and the movable end of the clamping mechanical arm (6) is provided with a mechanical hand (7), the controller (5) is arranged on the lower operating panel (11), and the conveying unit (1), the detection unit (2), the operating platform (3), the pushing unit (4) and the clamping mechanical arm (6) are all connected to the controller (5) by signal.

2. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 1 is characterized in that: The conveying unit (1) comprises a conveying line (14) and an output line (15); the front end of the conveying line (14) and the rear end of the output line (15) are arranged in parallel; an opening (16) is provided at a position corresponding to the pushing unit (4) on the side edge of the front end of the frame of the conveying line (14); and both the conveying line (14) and the output line (15) are connected to a controller (5) by signal.

3. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 2 is characterized in that: The detection unit (2) comprises a bracket (17), an electric telescopic rod (18), a camera (19) and a distance sensor (20); the bracket (17) is arranged at the front end of the conveyor line (14); the electric telescopic rod (18) is arranged vertically downward; the fixed end of the electric telescopic rod (18) is fixedly connected to the bracket (17); the telescopic end of the electric telescopic rod (18) is installed with a camera (19) and a distance sensor (20); the electric telescopic rod (18) is located above the front end opening (16) of the conveyor line (14); and the camera (19) and the distance sensor (20) are both connected to the controller (5) by signal.

4. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 3 is characterized in that: The pushing unit (4) comprises a telescopic motor (21) and a push plate (22); the push plate (22) is fixed to the telescopic end of the telescopic motor (21) and is arranged corresponding to the front end opening (16) of the conveyor line (14); the fixed end of the telescopic motor (21) is mounted on the upper operating panel (10); and the telescopic motor (21) is connected to the controller (5) by signal.

5. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 4 is characterized in that: The cleaning mechanism (8) comprises a fastening component (23) and a cleaning component (24); the fastening component (23) is fixed on the upper operating panel (10) and is located outside the through hole (12); and the cleaning component (24) is fixed on the lower operating panel (11) and is located below the through hole (12).

6. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 5, characterized in that: The fastening assembly (23) comprises a hollow fixed column (25), a telescopic motor (26), a movable disk (27), a fixing ring (28) and a vacuum suction cup (29). The hollow fixed column (25) is arranged toward the side wall opening of the clamping robot arm (6) and is concentrically sleeved on the outside of the through hole (12). The fixing ring (28) is fixed on the through hole (12). The telescopic motor (26) is fixed to the upper end of the hollow fixed column (25). The telescopic end of the telescopic motor (26) passes through the hollow fixed column (25) and is fixedly connected to the upper end of the movable disk (27). The vacuum suction cup (29) is fixed to the lower end of the movable disk (27). The movable disk (27) can move up and down in the cavity of the hollow fixed column (25) through the telescopic motor (26). The telescopic motor (26) and the vacuum suction cup (29) are both connected to the controller (5) by signal.

7. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 6, characterized in that: The cleaning assembly (24) comprises a cleaning bucket (30), a telescopic rotating motor (31) and a cleaning brush (32). The cleaning bucket (30) is arranged between the upper operating panel (10) and the lower operating panel (11) and is located below the through hole (12). A water outlet (38) is provided on the side wall of the cleaning bucket (30). The water outlet (38) is externally connected to a wastewater recovery device. The telescopic rotating motor (31) is fixed to the lower end of the lower operating panel (11). The rotating shaft of the telescopic rotating motor (31) slides through the lower operating panel (11) and the bottom surface of the cleaning bucket (30) and is fixedly connected to the lower end of the cleaning brush (32). The cleaning brush (32) is externally connected to a water spraying device. The telescopic rotating motor (31) can drive the cleaning brush (32) to pass through the through hole (12) and move up and down in the cavity of the hollow fixed column (25) of the fastening assembly (23). The telescopic rotating motor (31) is signal-connected to the controller (5).

8. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 7, characterized in that: The drying mechanism (9) comprises a second fastening component (33) and a drying component (34); the second fastening component (33) is fixed on the upper operating panel (10) and is located outside the second through hole (13); and the drying component (34) is fixed on the lower operating panel (11) and is located below the second through hole (13).

9. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 8, characterized in that: The fastening component 2 (33) has the same structure as the fastening component 1 (23), and the fastening component 2 (33) is fixed on the outside of the through hole 2 (13).

10. The high-efficiency self-checking and cleaning device for impurities on the inner wall of an iron can according to claim 9, characterized in that: The drying component (34) comprises a second telescopic rotating motor (35), a temperature sensor (36) and a plurality of heating plates (37). The second telescopic rotating motor (35) is fixed to the upper end of the lower operating panel (11). The rotating shaft of the second telescopic rotating motor (35) slides through the upper operating panel (10). The upper end side wall of the rotating shaft is evenly provided with a plurality of heating plates (37). The upper end of the rotating shaft is fixed with a temperature sensor (36). Under the action of the second telescopic rotating motor (35), the plurality of heating plates (37) can move up and down in the cavity of the hollow fixed column (25) of the second fastening component (33). The second telescopic rotating motor (35), the temperature sensor (36) and the plurality of heating plates (37) are all connected to the controller (5) by signals.

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