Cleaning device, cooling, cleaning and drying equipment and cleaning method

Abstract

The invention provides a cleaning device, cooling, cleaning and drying equipment and a cleaning method. The cleaning device comprises a rack, a material carrying and conveying mechanism, a cleaning machine base, a carrying plate blocking mechanism, a moving mechanism, a dry ice cleaning mechanism, a CCD visual system and a controller. The dry ice cleaning mechanism comprises a dry ice connecting pipe and a dry ice spray head, the dry ice spray head is installed at the power output end of the moving mechanism, and the moving mechanism is used for driving the dry ice spray head to move in the cleaning cavity; the CCD visual system is used for collecting object image data of the PCB of the carrier when the carrier moves to a preset position along with the material carrying and conveying mechanism; the controller is used for storing target image data of the target PCB and calculating the object image data and the target image data to obtain driving data of the moving mechanism; and the moving mechanism drives the dry ice nozzle to move to a target position according to the driving data, so that the moving position of the dry ice nozzle is calibrated in real time. According to the cleaning device, the cleaning precision of the PCB is high.

Description

Technical Field

[0001] The present disclosure relates to the technical field of PCB production, and in particular to a cleaning device, cooling, cleaning and drying equipment, and a cleaning method. Background Art

[0002] A cleaning device is an industrial device used to clean and remove residues on the surface of a workpiece. Cleaning devices are widely used in PCB (Printed Circuit Board) production, automobile manufacturing, textile printing and dyeing, surface spraying, semiconductor manufacturing, and aerospace. After the PCB is soldered, solder residues remain on the surface of the PCB. At this time, a cleaning device is used to clean the PCB to remove the solder residues on the surface of the PCB to achieve the purpose of cleaning the PCB.

[0003] In the prior art, a dry ice cleaning method is used to clean the PCB. The dry ice cleaning method includes manual dry ice cleaning and dry ice device cleaning. The manual dry ice cleaning method is as follows: a worker cleans the PCB with a handheld dry ice spray gun. First, the worker observes the board surface of the PCB with both eyes to determine the residue on the PCB. Then, the worker sprays dry ice at the residue with the dry ice spray gun to achieve manual cleaning of the PCB. The worker determines the residue on the PCB with both eyes, which makes it easier for the worker to miss it, thereby reducing the cleaning accuracy of the PCB.

[0004] The dry ice device cleaning method is as follows: the dry ice device is provided with a three-axis platform, and a dry ice nozzle is fixedly installed on the three-axis platform. The dry ice nozzle cleans the PCB, that is, the dry ice nozzle relies on the mechanical positioning of the three-axis platform to clean the PCB, so that the cleaning accuracy of the dry ice nozzle on the PCB relies on the mechanical positioning accuracy of the three-axis platform. There is a certain error in the mechanical positioning accuracy of the three-axis platform, so that the position accuracy of the dry ice nozzle when cleaning the PCB is low, so that the cleaning accuracy of the PCB is low;

[0005] In summary, the existing dry ice cleaning method has the problem of low cleaning accuracy of PCB. Summary of the invention

[0006] The purpose of the present disclosure is to overcome the deficiencies in the prior art and to provide a cleaning device, cooling, cleaning and drying equipment and a cleaning method that can clean PCBs with higher precision.

[0007] The purpose of this disclosure is achieved through the following technical solutions:

[0008] A cleaning device, comprising a frame, a material conveying mechanism, a cleaning machine base, a carrier plate blocking mechanism, a moving mechanism, a dry ice cleaning mechanism, a CCD visual system and a controller, wherein the material conveying mechanism, the cleaning machine base, the carrier plate blocking mechanism and the moving mechanism are all arranged on the frame;

[0009] The cleaning machine base is formed with a connected cleaning chamber and a material transfer channel, the material transfer mechanism is arranged through the material transfer channel, the carrier blocking mechanism, the moving mechanism and the CCD visual system are all located in the cleaning chamber; the dry ice cleaning mechanism includes a dry ice connecting pipe and a dry ice nozzle, the dry ice nozzle is installed at the power output end of the moving mechanism, the moving mechanism is used to drive the dry ice nozzle to move in the cleaning chamber, one end of the dry ice connecting pipe is connected to the dry ice nozzle, and the other end of the dry ice connecting pipe is used to be connected to a dry ice source; the CCD visual system is installed at the power output end of the moving mechanism, and the CCD visual system is used to collect object image data of the PCB of the carrier when the carrier moves to a predetermined position with the material transfer mechanism;

[0010] The controller is electrically connected to the control end of the moving mechanism, the control end of the dry ice cleaning mechanism, the control end of the carrier blocking mechanism and the CCD visual system respectively, and the controller is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain the driving data of the moving mechanism;

[0011] The moving mechanism drives the dry ice spray head to move to a target position according to the driving data, so that the moving position of the dry ice spray head is calibrated in real time.

[0012] A cleaning method, used to control the cleaning device described in any of the above embodiments, the cleaning method comprising:

[0013] The carrier is conveyed to a position corresponding to the carrier plate blocking mechanism by the material conveying mechanism;

[0014] The carrier is blocked and limited by the carrier plate blocking mechanism;

[0015] Collecting the object image data through the CCD vision system;

[0016] Calculating the object image data and the target image data to obtain the driving data;

[0017] The moving mechanism is controlled to be driven according to the driving data until the dry ice spray head moves to a target position.

[0018] A cooling, cleaning and drying device comprises a cooling cache device, a drying device and the cleaning device described in any of the above embodiments, wherein the cooling cache device, the cleaning device and the drying device are arranged in sequence; the cooling cache device is used to cool the PCB of the carrier; the loading end of the loading and conveying mechanism is connected to the unloading end of the cooling cache device, the unloading end of the loading and conveying mechanism is connected to the loading end of the drying device, and the drying device is used to dry the PCB of the carrier after cleaning.

[0019] Compared with the prior art, the present invention has at least the following advantages:

[0020] 1. Since the material conveying mechanism is used to convey the carrier to a predetermined position, the carrier blocking mechanism is used to block the carrier when the carrier moves to the predetermined position with the material conveying mechanism, so that the carrier stays at the predetermined position, the carrier is used to carry the PCB, so that the PCB stays at the predetermined position with the carrier, the dry ice nozzle is installed at the power output end of the moving mechanism, the moving mechanism is used to drive the dry ice nozzle to move in the cleaning chamber, so that the moving mechanism is used to drive the dry ice nozzle to move to a position corresponding to the carrier, so that the spray end of the dry ice nozzle is facing the PCB on the carrier, and the spray end of the dry ice nozzle is used to spray dry ice, the CCD vision system is used to collect object image data of the PCB of the carrier when the carrier moves to the predetermined position with the material conveying mechanism, and the controller is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain the driving data of the moving mechanism, that is, to obtain the driving data of the moving mechanism. The controller is used to calculate the object image data and the target image data, that is, to compare the object image data with the target image data to obtain the position deviation value, and the position deviation value is the driving data; the controller determines whether the position deviation value is greater than the preset value, and if so, controls the moving mechanism to act according to the position deviation value to compensate for the deviation between the object image data and the target image data, so that the deviation between the starting position of the dry ice nozzle and the preset position is smaller, so that the dry ice nozzle can accurately clean the cleaning position of the PCB along the cleaning path; that is, the controller controls the moving mechanism to drive the dry ice nozzle to move to the target position according to the driving data, so that the moving position of the dry ice nozzle is calibrated in real time, so that the dry ice nozzle can calibrate the position in real time under the action of the moving mechanism to comprehensively and accurately clean the residues on the PCB, and complete the cleaning process of the PCB;

[0021] 2. Since the controller is used to calculate the object image data and the target image data to obtain the driving data of the moving mechanism, the controller controls the moving mechanism to drive the dry ice nozzle to move to the target position according to the driving data, so that the dry ice nozzle can accurately clean the cleaning position of the PCB along the cleaning path, thereby avoiding the problem that the staff in the prior art are prone to omission, so that the dry ice nozzle can calibrate the position in real time under the action of the moving mechanism to comprehensively and accurately clean the residues on the PCB, thereby making the cleaning accuracy of the PCB higher;

[0022] 3. Since the moving mechanism drives the dry ice nozzle to move to the target position according to the driving data, the moving position of the dry ice nozzle is calibrated in real time, so that the dry ice nozzle can accurately clean the residues on the PCB. That is, the dry ice nozzle is calibrated in real time under the action of the moving mechanism to comprehensively and accurately clean the residues on the PCB, thereby avoiding the problem of certain errors in the mechanical positioning accuracy of the three-axis platform in the prior art, so that the position accuracy of the dry ice nozzle when cleaning the PCB under the action of the moving mechanism is higher, thereby making the cleaning accuracy of the PCB higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic structural diagram of a cleaning device according to an embodiment;

[0025] Figure 2 for Figure 1 A schematic diagram of a partial structure of the cleaning device from another perspective is shown;

[0026] Figure 3 for Figure 2 An enlarged schematic diagram of the cleaning device at point A shown;

[0027] Figure 4 for Figure 2 An enlarged schematic diagram of the cleaning device at B shown;

[0028] Figure 5 for Figure 2 An enlarged schematic diagram of the cleaning device at position C is shown;

[0029] Figure 6 This is a schematic structural diagram of a cooling, cleaning and drying device according to an embodiment;

[0030] Figure 7 for Figure 2 The working principle diagram of the CCD vision system of the cleaning device shown;

[0031] Figure 8 for Figure 6 A partial structural schematic diagram of a cooling buffer device of a cooling, cleaning and drying device shown;

[0032] Fig. 9 for Figure 8 A schematic diagram of a partial structure of the cooling cache device from another perspective shown;

[0033] Fig.10 for Fig. 9 An enlarged schematic diagram of a cooling cache device at position D is shown;

[0034] Fig.11 for Figure 8 A schematic diagram of a partial structure of a cooling cache device from one viewing angle is shown;

[0035] Fig.12 for Fig.11 An enlarged schematic diagram of the cooling cache device at position E is shown;

[0036] Fig.13 for Figure 6 The schematic diagram of the partial structure of the drying device of the cooling, cleaning and drying equipment is shown. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0040] like Figures 1 to 7 As shown, a cleaning device 10a of an embodiment includes a frame 101, a material conveying mechanism 102, a cleaning machine base 103, a carrier blocking mechanism 104, a moving mechanism 105, a dry ice cleaning mechanism 106, a CCD visual system 107 and a controller 108. The material conveying mechanism 102, the cleaning machine base 103, the carrier blocking mechanism 104 and the moving mechanism 105 are all arranged on the frame 101.

[0041] Furthermore, the cleaning machine base 103 is formed with a connected cleaning chamber 131 and a material transfer channel 132, the material conveying mechanism 102 is arranged in the material transfer channel 132, the carrier blocking mechanism 104, the moving mechanism 105 and the CCD visual system 107 are all located in the cleaning chamber 131; the dry ice cleaning mechanism 106 includes a dry ice connecting pipe (not shown) and a dry ice nozzle 161, the dry ice nozzle 161 is installed at the power output end of the moving mechanism 105, and the moving mechanism 105 is used to drive the dry ice The nozzle 161 moves in the cleaning chamber 131, one end of the dry ice connection pipe is connected to the dry ice nozzle 161, and the other end of the dry ice connection pipe is used to connect to the dry ice source, so that the dry ice of the dry ice source passes into the dry ice nozzle 161 through the dry ice connection pipe; the CCD vision system 107 is installed at the power output end of the moving mechanism 105, and the CCD vision system 107 is used to collect the object image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102;

[0042] The controller 108 is electrically connected to the control end of the moving mechanism 105, the control end of the dry ice cleaning mechanism 106, the control end of the carrier blocking mechanism 104 and the CCD vision system 107 respectively. The controller 108 is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain the driving data of the moving mechanism 105, that is, to obtain the control data of the moving mechanism 105 driving the dry ice nozzle 161 to move relative to the carrier 202;

[0043] The moving mechanism 105 drives the dry ice spray head 161 to move to the target position according to the driving data, so that the moving position of the dry ice spray head 161 is calibrated in real time, so that the dry ice spray head 161 can accurately clean the residues on the PCB.

[0044] In this embodiment, the carrier conveying mechanism 102 is used to convey the carrier 202, the carrier 202 is used to carry the PCB, and the carrier blocking mechanism 104 is used to block the carrier 202 when the carrier 202 moves to a predetermined position along with the carrier conveying mechanism 102. One end of the dry ice connecting pipe is connected to the dry ice spray head 161, and the other end of the dry ice connecting pipe is used to connect to the dry ice source, so that the dry ice of the dry ice source passes into the dry ice spray head 161 through the dry ice connecting pipe, so that the spray end of the dry ice spray head 161 is used to spray dry ice.

[0045] In the cleaning device 10a, since the material conveying mechanism 102 is used to convey the carrier 202 to a predetermined position, the carrier blocking mechanism 104 is used to block the carrier 202 when the carrier 202 moves to the predetermined position with the material conveying mechanism 102, so that the carrier 202 stays at the predetermined position, the carrier 202 is used to carry the PCB, so that the PCB stays at the predetermined position with the carrier 202, and the dry ice nozzle 161 is installed at the power output end of the moving mechanism 105, and the moving mechanism 105 is used to drive the dry ice nozzle 161 in the cleaning chamber 131. The moving mechanism 105 is used to drive the dry ice spray head 161 to move to a position corresponding to the carrier 202, so that the spray end of the dry ice spray head 161 is directly facing the PCB on the carrier 202, and the spray end of the dry ice spray head 161 is used to spray dry ice. The CCD vision system 107 is used to collect the object image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102. The controller 108 is used to store the target image data of the target PCB and calculate the object image data and the target image data. The driving data of the moving mechanism 105 is obtained, that is, the control data for the moving mechanism 105 to drive the dry ice spray head 161 to move relative to the carrier 202 is obtained. At the same time, the controller 108 is used to calculate the object image data and the target image data, that is, to compare the object image data with the target image data to obtain a position deviation value, and the position deviation value is the driving data; the controller 108 determines whether the position deviation value is greater than the preset value, and if so, controls the moving mechanism 105 to act according to the position deviation value to compensate for the deviation between the object image data and the target image data, thereby making the starting position of the dry ice spray head 161 less deviated from the preset position, thereby making the dry ice spray head 161 able to accurately clean the cleaning position of the PCB along the cleaning path; that is, the controller 108 controls the moving mechanism 105 to drive the dry ice spray head 161 to move to the target position according to the driving data, so that the moving position of the dry ice spray head 161 is calibrated in real time, so that the dry ice spray head 161 can calibrate the position in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, and complete the cleaning process of the PCB;

[0046] Since the controller 108 is used to calculate the object image data and the target image data to obtain the driving data of the moving mechanism 105, the controller 108 controls the moving mechanism 105 to drive the dry ice spray head 161 to move to the target position according to the driving data, so that the dry ice spray head 161 can accurately clean the cleaning position of the PCB along the cleaning path, thereby avoiding the problem that the staff in the prior art are prone to omission, so that the dry ice spray head 161 can calibrate the position in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, thereby making the cleaning accuracy of the PCB higher;

[0047] Since the moving mechanism 105 drives the dry ice nozzle 161 to move to the target position according to the driving data, the moving position of the dry ice nozzle 161 is calibrated in real time, so that the dry ice nozzle 161 can accurately clean the residues on the PCB, that is, the dry ice nozzle 161 is calibrated in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, thereby avoiding the problem of certain errors in the mechanical positioning accuracy of the three-axis platform in the prior art, so that the position accuracy of the dry ice nozzle 161 when cleaning the PCB under the action of the moving mechanism 105 is higher, thereby making the cleaning accuracy of the PCB higher.

[0048] like Figures 1 to 3 As shown, in one embodiment, the cleaning device 10a further includes a sensor 109, the sensor 109 is electrically connected to the controller 108, the sensor 109 is located in the cleaning chamber 131 and is installed on the carrier blocking mechanism 104, and the sensor 109 is used to sense the carrier 202. In this embodiment, the sensor 109 is an infrared sensor 109, and the sensor 109 is electrically connected to the controller 108, so that the sensor 109 feeds back the position information of the carrier 202 to the controller 108 in real time, so that the controller 108 can accurately capture the real-time position of the carrier 202, and realize timely automatic blocking of the carrier 202.

[0049] Furthermore, the sensor 109 is installed on the carrier blocking mechanism 104 . When the sensor 109 senses the carrier 202 , the controller 108 controls the carrier blocking mechanism 104 to move and block the carrier 202 , so that the carrier 202 stays at a predetermined position on the material conveying mechanism 102 .

[0050] like Figures 1 to 3As shown, in one embodiment, the carrier blocking mechanism 104 includes a blocking mounting body 141, a blocking driving member 142 and a blocking portion 143, the blocking mounting body 141 is arranged on the frame 101, the sensor 109 is installed on the blocking mounting body 141, the blocking driving member 142 is installed on the blocking mounting body 141, the power output end of the blocking driving member 142 is connected to the blocking portion 143, the blocking driving member 142 is used to drive the blocking portion 143 to move along the first direction z parallel to the first direction, the blocking driving member 142 is electrically connected to the controller 108, and the blocking portion 143 is used to block the carrier 202 when the carrier 202 moves to a predetermined position along the material conveying mechanism 102. In this embodiment, the blocking driving member 142 is a driving motor or a driving cylinder. When the sensor 109 senses the carrier 202, the controller 108 controls the blocking driving member 142 to operate, and the blocking driving member 142 is used to drive the blocking part 143 to move upward along the first direction z, so that the blocking part 143 is used to block the carrier 202 when the carrier 202 moves to a predetermined position with the loading and conveying mechanism 102; when the PCB of the carrier 202 completes the cleaning process, the controller 108 controls the blocking driving member 142 to operate, and the blocking driving member 142 is used to drive the blocking part 143 to move downward along the first direction z, so that the blocking part 143 is separated from the carrier 202, and the loading and conveying mechanism 102 continues to convey the carrier 202 to the next process along the extension direction of the material transfer channel 132, so that the automation performance of the cleaning device 10a is better.

[0051] Furthermore, in one of the embodiments, the CCD vision system 107 is used to collect result image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position along with the material conveying mechanism 102, and the controller 108 calculates the result image data and the target image data to obtain the cleaning data of the PCB; the controller 108 determines whether to drive the blocking driving member 142 to operate according to the cleaning data of the PCB. In this embodiment, after the dry ice nozzle 161 cleans the PCB for a predetermined time, the controller 108 controls the dry ice nozzle 161 to move in a direction away from the PCB of the carrier 202, and then the controller 108 controls the CCD vision system 107 to move in a direction close to the PCB of the carrier 202, so that the CCD vision system 107 is used to collect result image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position along with the material conveying mechanism 102, and then the controller 108 calculates the result image data and the target image data to obtain the cleaning data of the PCB;

[0052] The target image data is the target PCB after the residue is removed. If the result image data is consistent with the target image data, it means that the residue has been completely removed from the PCB of the carrier 202. At this time, the PCB of the carrier 202 has completed the cleaning process. On the contrary, if the result image data is inconsistent with the target image data, it means that the PCB of the carrier 202 still has residues. At this time, the PCB of the carrier 202 needs to continue to be cleaned. Therefore, the cleaning data of the PCB is: whether the result image data is consistent with the target image data;

[0053] When the result image data is consistent with the target image data, the controller 108 drives the blocking driving member 142 to operate, and the blocking driving member 142 is used to drive the blocking portion 143 to move downward in a direction parallel to the first direction z, so that the blocking portion 143 is separated from the carrier 202, and the material conveying mechanism 102 continues to convey the carrier 202 to the next process along the extension direction of the material transfer channel 132; on the contrary, when the result image data is inconsistent with the target image data, the blocking driving member 142 does not operate, so that the blocking portion 143 is used to block the carrier 202 at a predetermined position on the material conveying mechanism 102, so as to facilitate the PCB of the carrier 202 to be cleaned again; then, the controller 108 calculates the result image data and the target image data to obtain the second driving data of the moving mechanism 105; the moving mechanism 105 drives the dry ice nozzle 161 to move to the target position according to the second driving data to clean the PCB again, thereby improving the automation performance of the cleaning device 10a.

[0054] like Figure 1 , Figure 2 and Figure 5As shown, in one embodiment, the moving mechanism 105 includes a vertical adjustment component 110, a longitudinal adjustment component 120 and a transverse adjustment component 150, a dry ice spray head 161 is installed at the power output end of the vertical adjustment component 110, and the vertical adjustment component 110 is used to drive the dry ice spray head 161 to move in parallel with the first direction z; the CCD vision system 107 is installed on the outer peripheral wall of the vertical adjustment component 110, so that the CCD vision system 107 is stationary relative to the vertical adjustment component 110; the vertical adjustment component 110 is installed at the power output end of the longitudinal adjustment component 120, and the longitudinal adjustment component 120 is used to drive the vertical adjustment component 110 to move in parallel with the second direction y; the longitudinal adjustment component 120 is installed at the power output end of the transverse adjustment component 150, and the transverse adjustment component 150 is used to drive the longitudinal adjustment component 120 to move in parallel with the third direction x, and the transverse adjustment component 150 is arranged on the frame 101; there is an angle between the first direction z, the second direction y and the third direction x. In this embodiment, the longitudinal adjustment component 120 is used to drive the vertical adjustment component 110 to move in parallel to the second direction y, so that the dry ice spray head 161 and the CCD vision system 107 move along the vertical adjustment component 110 in parallel to the second direction y; the lateral adjustment component 150 is used to drive the longitudinal adjustment component 120 to move in parallel to the third direction x, so that the vertical adjustment component 110, the dry ice spray head 161 and the CCD vision system 107 move along the longitudinal adjustment component 120 in parallel to the third direction x, so that the transmission efficiency of the moving mechanism 105 is higher.

[0055] Furthermore, in one embodiment, the vertical adjustment assembly 110 includes a vertical mounting seat 111, a vertical drive motor 112, a vertical connecting screw (not shown) and a vertical adjustment seat 113, the vertical mounting seat 111 is provided with a first mounting cavity (not shown), the vertical connecting screw is located in the first mounting cavity and is rotatably connected to the vertical mounting seat 111, the vertical drive motor 112 is installed on the vertical mounting seat 111, the power output end of the vertical drive motor 112 is connected to the vertical connecting screw, the vertical adjustment seat 113 is provided with a first nut slider (not shown), the first nut slider is located in the first mounting cavity and is slidably connected to the vertical mounting seat 111, the first nut slider is provided with a first internal screw hole, and the vertical connecting screw is penetrated through the first internal screw hole. hole and is threadedly connected with the first nut slider; when the vertical drive motor 112 is working, the vertical drive motor 112 drives the vertical connecting screw to rotate, so as to drive the first nut slider to slide in the first mounting cavity, and then drive the vertical adjustment seat 113 to move up and down in the first direction z; in this embodiment, the side of the vertical mounting seat 111 away from the vertical adjustment seat 113 is connected to the longitudinal adjustment component 120, and the vertical mounting seat 111 is also connected to the CCD vision system 107; the dry ice nozzle 161 is connected to the vertical adjustment seat 113, so that the vertical drive motor 112 drives the dry ice nozzle 161 to move up and down relative to the vertical mounting seat 111 along the first direction z through the vertical adjustment seat 113, thereby improving the convenience of position adjustment of the dry ice nozzle 161.

[0056] Furthermore, in one of the embodiments, the power shaft of the vertical drive motor 112 is connected to the vertical connecting screw through a coupling to drive the vertical connecting screw to rotate relative to the vertical adjustment seat 113, so that the transmission reliability of the vertical adjustment component 110 is better.

[0057] It is understood that in other embodiments, the vertical drive motor 112 is not limited to being connected to the vertical connection screw rod through a coupling to drive the vertical connection screw rod to rotate relative to the vertical adjustment seat 113. For example, the vertical drive motor 112 drives the vertical connection screw rod to rotate relative to the vertical adjustment seat 113 through a belt drive assembly. For another example, the vertical drive motor 112 drives the vertical connection screw rod to rotate relative to the vertical adjustment seat 113 through a gear assembly.

[0058] Furthermore, in one embodiment, the longitudinal adjustment assembly 120 includes a longitudinal mounting seat 121, a longitudinal drive motor 122, a longitudinal connecting screw (not shown) and a longitudinal adjustment seat 123, the longitudinal mounting seat 121 is provided with a second mounting cavity (not shown), the longitudinal connecting screw is located in the second mounting cavity and is rotatably connected to the longitudinal mounting seat 121, the longitudinal drive motor 122 is installed on the longitudinal mounting seat 121, the power output end of the longitudinal drive motor 122 is connected to the longitudinal connecting screw, and the longitudinal adjustment seat 123 is provided with a second nut slider (not shown), the second nut slider is located in the second mounting cavity and is slidably connected to the longitudinal mounting seat 121, the second nut slider is provided with a second inner screw hole, the longitudinal connecting screw is passed through the second inner screw hole and is threadedly connected to the second nut slider ; When the longitudinal drive motor 122 is working, the longitudinal drive motor 122 drives the longitudinal connecting screw to rotate, so as to drive the second nut slider to slide in the second mounting cavity, and then drive the longitudinal adjustment seat 123 to reciprocate in the second direction y; in this embodiment, the longitudinal mounting seat 121 is connected to the lateral adjustment component 150, and the longitudinal adjustment seat 123 is connected to the vertical mounting seat 111, so that the longitudinal drive motor 122 drives the vertical mounting seat 111 to reciprocate along the second direction y relative to the longitudinal mounting seat 121 through the longitudinal adjustment seat 123, so that the dry ice spray head 161 and the CCD vision system 107 both move with the vertical mounting seat 111, thereby improving the convenience of position adjustment of the dry ice spray head 161, and at the same time improving the convenience of position adjustment of the CCD vision system 107.

[0059] Furthermore, in one of the embodiments, the power shaft of the longitudinal drive motor 122 is connected to the longitudinal connecting screw through a coupling to drive the longitudinal connecting screw to rotate relative to the longitudinal adjustment seat 123, so that the transmission reliability of the longitudinal adjustment component 120 is better.

[0060] It is understood that in other embodiments, the longitudinal drive motor 122 is not limited to being connected to the longitudinal connecting screw by a coupling to drive the longitudinal connecting screw to rotate relative to the longitudinal adjustment seat 123. For example, the longitudinal drive motor 122 drives the longitudinal connecting screw to rotate relative to the longitudinal adjustment seat 123 through a belt drive assembly. For another example, the longitudinal drive motor 122 drives the longitudinal connecting screw to rotate relative to the longitudinal adjustment seat 123 through a gear assembly.

[0061] Furthermore, in one embodiment, the transverse adjustment assembly 150 includes a transverse mounting seat 151, a transverse drive motor 152, a transverse connecting screw (not shown) and a transverse adjustment seat 153, the transverse mounting seat 151 is provided with a third mounting cavity (not shown), the transverse connecting screw is located in the third mounting cavity and is rotatably connected to the transverse mounting seat 151, the transverse drive motor 152 is installed on the transverse mounting seat 151, the power output end of the transverse drive motor 152 is connected to the transverse connecting screw, and the transverse adjustment seat 153 is provided with a third nut slider (not shown), the third nut slider is located in the third mounting cavity and is slidably connected to the transverse mounting seat 151, the third nut slider is provided with a third inner screw hole, the transverse connecting screw is passed through the third inner screw hole and is connected to the third nut slider Screw connection; when the transverse drive motor 152 is working, the transverse drive motor 152 drives the transverse connecting screw to rotate, so as to drive the third nut slider to slide in the third mounting cavity, and then drive the transverse adjustment seat 153 to reciprocate in the third direction x; in this embodiment, the transverse mounting seat 151 is arranged on the frame 101, and the transverse adjustment seat 153 is connected to the longitudinal mounting seat 121, so that the transverse drive motor 152 drives the longitudinal mounting seat 121 to reciprocate along the third direction x relative to the transverse mounting seat 151 through the transverse adjustment seat 153, so that the dry ice spray head 161 and the CCD visual system 107 move with the longitudinal mounting seat 121, thereby improving the convenience of adjusting the position of the dry ice spray head 161, and at the same time improving the convenience of adjusting the position of the CCD visual system 107. In this embodiment, the transverse drive motor 152 drives the transverse connecting screw to rotate relative to the transverse adjustment seat 153 through a belt drive assembly (not shown).

[0062] Furthermore, in one embodiment, the lateral adjustment assembly 150 also includes a belt drive assembly, which includes a driving wheel, a conveyor belt and a driven wheel. The driving wheel is installed on the power shaft of the lateral drive motor 152, and the conveyor belt is respectively sleeved on the driving wheel and the driven wheel. The driven wheel is sleeved on the connecting screw rod, so that the lateral drive motor 152 drives the lateral connecting screw rod to rotate relative to the lateral adjustment seat 153 through the driving wheel, the conveyor belt and the driven wheel, so that the transmission reliability of the lateral adjustment assembly 150 is higher.

[0063] It is understood that in other embodiments, the transverse drive motor 152 is not limited to driving the transverse connecting screw to rotate relative to the transverse adjustment seat 153 through the belt drive assembly. For example, the transverse drive motor 152 drives the transverse connecting screw to rotate relative to the transverse adjustment seat 153 through the gear assembly. For another example, the power shaft of the transverse drive motor 152 is connected to the transverse connecting screw through a coupling to drive the transverse connecting screw to rotate relative to the transverse adjustment seat 153.

[0064] like Figure 1 , Figure 2 and Figure 4As shown, in one embodiment, the cleaning device 10a also includes a pressing plate mechanism 170, which is located in the cleaning chamber 131 and installed on the material conveying mechanism 102. The control end of the pressing plate mechanism 170 is electrically connected to the controller 108. The pressing plate mechanism 170 is used to press the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102, so that the pressing plate mechanism 170 presses and fixes the carrier 202 at the predetermined position of the material conveying mechanism 102, so that the position stability of the carrier 202 is better.

[0065] like Figure 1 , Figure 2 and Figure 4 As shown, in one embodiment, the pressing plate mechanism 170 includes a pressing plate mounting member 171, a pressing plate driving member 172 and a pressing plate portion 173, the pressing plate mounting member 171 is mounted on the material conveying mechanism 102, the pressing plate driving member 172 is mounted on the pressing plate mounting member 171, the control end of the pressing plate driving member 172 is electrically connected to the controller 108, the power output end of the pressing plate driving member 172 is connected to the pressing plate portion 173, the pressing plate driving member 172 is used to drive the pressing plate portion 173 to move parallel to the first direction z, and the pressing plate portion 173 is used to press the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102. In this embodiment, the pressing plate driving member 172 is a driving cylinder or a driving motor. When the sensor 109 senses the carrier 202, the controller 108 controls the pressure plate driver 172 to operate, and the pressure plate driver 172 is used to drive the pressure plate portion 173 to move downward in a direction parallel to the first direction z, so that the pressure plate portion 173 is used to press the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102; when the PCB of the carrier 202 completes the cleaning process, the controller 108 controls the pressure plate driver 172 to operate, and the pressure plate driver 172 is used to drive the pressure plate portion 173 to move upward in a direction parallel to the first direction z, so that the pressure plate portion 173 releases the carrier 202, and when the blocking portion 143 is separated from the carrier 202, the material conveying mechanism 102 continues to convey the carrier 202 along the extension direction of the material transfer channel 132 to enter the next process, thereby making the cleaning device 10a have better automation performance.

[0066] like Figures 1 to 5 and Figure 7 As shown, the present disclosure also provides a cleaning method for controlling the cleaning device 10a of any of the above embodiments. Further, the cleaning method includes part or all of the following steps:

[0067] S901 , conveying the carrier 202 to a position corresponding to the carrier blocking mechanism 104 through the material conveying mechanism 102 .

[0068] In this embodiment, the material conveying mechanism 102 is used to convey the carrier 202 to a predetermined position. The carrier 202 is used to carry the PCB, so that the PCB on the carrier 202 is conveyed to the predetermined position under the action of the material conveying mechanism 102 .

[0069] S903 , the carrier 202 is blocked and limited by the carrier blocking mechanism 104 .

[0070] In this embodiment, the carrier blocking mechanism 104 is used to block the carrier 202 when the carrier 202 moves to a predetermined position along with the material conveying mechanism 102 , so that the carrier 202 stays at the predetermined position, and the PCB stays at the predetermined position along with the carrier 202 .

[0071] S905 , collecting the object image data through the CCD vision system 107 .

[0072] In this embodiment, the CCD vision system 107 is used to collect object image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position along with the material conveying mechanism 102 .

[0073] S907, calculating the object image data and the target image data to obtain the driving data.

[0074] In this embodiment, the controller 108 is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain the driving data of the moving mechanism 105, that is, to obtain the control data of the moving mechanism 105 driving the dry ice nozzle 161 to move relative to the carrier 202.

[0075] S909, controlling the moving mechanism 105 to drive according to the driving data until the dry ice spray head 161 moves to the target position.

[0076] In this embodiment, the controller 108 controls the moving mechanism 105 to drive the dry ice nozzle 161 to move to the target position according to the driving data, so that the moving position of the dry ice nozzle 161 is calibrated in real time, so that the dry ice nozzle 161 can accurately clean the residue on the PCB.

[0077] Further, the step of calculating the object image data and the target image data includes: comparing the object image data with the target image data to obtain a position deviation value; determining whether the position deviation value is greater than a preset value, and if so, controlling the moving mechanism 105 to act according to the position deviation value to compensate for the deviation between the object image data and the target image data, thereby making the deviation between the starting position of the dry ice nozzle 161 and the preset position smaller, thereby enabling the dry ice nozzle 161 to accurately clean the cleaning position of the PCB along the cleaning path. Specifically, comparing the object image data with the target image data includes: subtracting the value of the X direction of the object image data from the preset value of the X direction of the target image data to obtain the X direction deviation value, and subtracting the value of the Y direction of the object image data from the preset value of the Y direction of the target image data to obtain the Y direction deviation value.

[0078] Further, judging whether the position deviation value is greater than a preset value includes judging whether the X-direction deviation value is greater than a preset threshold value in the X-direction, and if so, controlling the moving mechanism 105 to perform motion compensation in the X-direction according to the X-direction deviation value.

[0079] Furthermore, judging whether the position deviation value is greater than a preset value also includes: judging whether the Y direction deviation value is greater than a preset threshold value in the Y direction; if so, controlling the moving mechanism 105 to perform motion compensation in the Y direction according to the Y direction deviation value.

[0080] In the above cleaning method, since the material conveying mechanism 102 is used to convey the carrier 202 to the predetermined position, the carrier blocking mechanism 104 is used to block the carrier 202 when the carrier 202 moves to the predetermined position with the material conveying mechanism 102, so that the carrier 202 stays at the predetermined position, the carrier 202 is used to carry the PCB, so that the PCB stays at the predetermined position with the carrier 202, and the dry ice nozzle 161 is installed at the power output end of the moving mechanism 105, and the moving mechanism 105 is used to drive the dry ice nozzle 161 to move in the cleaning chamber 131 , so that the moving mechanism 105 is used to drive the dry ice spray head 161 to move to a position corresponding to the carrier 202, so that the spray end of the dry ice spray head 161 is facing the PCB on the carrier 202, and the spray end of the dry ice spray head 161 is used to spray dry ice, and the CCD visual system 107 is used to collect the object image data of the PCB of the carrier 202 when the carrier 202 moves to a predetermined position with the material conveying mechanism 102, and the controller 108 is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain The driving data of the moving mechanism 105, that is, the control data for the moving mechanism 105 to drive the dry ice nozzle 161 to move relative to the carrier 202, and at the same time, the controller 108 is used to calculate the object image data and the target image data, that is, to compare the object image data with the target image data to obtain a position deviation value, and the position deviation value is the driving data; the controller 108 determines whether the position deviation value is greater than a preset value, and if so, controls the moving mechanism 105 to act according to the position deviation value to compensate for the deviation between the object image data and the target image data, so that the deviation between the starting position of the dry ice nozzle 161 and the preset position is smaller, so that the dry ice nozzle 161 can accurately clean the cleaning position of the PCB along the cleaning path; that is, the controller 108 controls the moving mechanism 105 to drive the dry ice nozzle 161 to move to the target position according to the driving data, so that the moving position of the dry ice nozzle 161 is calibrated in real time, so that the dry ice nozzle 161 can calibrate the position in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, and complete the cleaning process of the PCB;

[0081] Since the controller 108 is used to calculate the object image data and the target image data to obtain the driving data of the moving mechanism 105, the controller 108 controls the moving mechanism 105 to drive the dry ice spray head 161 to move to the target position according to the driving data, so that the dry ice spray head 161 can accurately clean the cleaning position of the PCB along the cleaning path, thereby avoiding the problem that the staff in the prior art are prone to omission, so that the dry ice spray head 161 can calibrate the position in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, thereby making the cleaning accuracy of the PCB higher;

[0082] Since the moving mechanism 105 drives the dry ice nozzle 161 to move to the target position according to the driving data, the moving position of the dry ice nozzle 161 is calibrated in real time, so that the dry ice nozzle 161 can accurately clean the residues on the PCB, that is, the dry ice nozzle 161 is calibrated in real time under the action of the moving mechanism 105 to comprehensively and accurately clean the residues on the PCB, thereby avoiding the problem of certain errors in the mechanical positioning accuracy of the three-axis platform in the prior art, so that the position accuracy of the dry ice nozzle 161 when cleaning the PCB under the action of the moving mechanism 105 is higher, thereby making the cleaning accuracy of the PCB higher.

[0083] In one embodiment, before the step of calculating the object image data and the target image data, the cleaning method further includes: obtaining the target image data corresponding to the target PCB. In this embodiment, the target image data corresponding to the target PCB is obtained to facilitate the calculation of the object image data and the target image data, so that the cleaning device 10a is more convenient to use.

[0084] Furthermore, in one of the embodiments, the step of acquiring the target image data corresponding to the target PCB is specifically: acquiring the target image data corresponding to the target PCB through the CCD vision system 107 .

[0085] In this embodiment, the target image data of the target PCB is first collected by the CCD vision system 107, and the target image data is stored in the controller 108 to facilitate calculation of the object image data and the target image data, so that the cleaning device 10a is more convenient to use.

[0086] like Figures 1 to 5 As shown, in one of the embodiments, the step of blocking and limiting the carrier 202 by the carrier blocking mechanism 104 includes: firstly, blocking the carrier 202 by the carrier blocking mechanism 104 so that the carrier 202 stays at a predetermined position, which is conducive to the subsequent pressing process of the pressing plate mechanism 170; pressing the carrier 202 by the pressing plate mechanism 170 so that the pressing plate mechanism 170 presses and fixes the carrier 202 at the predetermined position, so that the position stability of the carrier 202 is better.

[0087] like Figure 6As shown, the present disclosure also provides a cooling, cleaning and drying device 10, including a cooling cache device 20a, a drying device 30a and the cleaning device 10a of any of the above-mentioned embodiments, the cooling cache device 20a, the cleaning device 10a and the drying device 30a are arranged in sequence; the cooling cache device 20a is used to cool the PCB of the carrier 202; the loading end of the loading and conveying mechanism 102 is connected with the unloading end of the cooling cache device 20a, and the unloading end of the loading and conveying mechanism 102 is connected with the loading end of the drying device 30a, and the drying device 30a is used to dry the PCB of the carrier 202 after cleaning.

[0088] Furthermore, if Figures 8 to 12 As shown, in one embodiment, the cooling buffer device 20a includes a base 201, a carrier 202, a feed conveying mechanism 203, a buffer rack 204, a transport mechanism 205, an air conditioning cooling device (not shown) and an outfeed conveying mechanism 207; the carrier 202 is used to carry the PCB; the feed conveying mechanism 203 is arranged on the base 201; the buffer rack 204 is connected to the base 201, and the buffer rack 204 forms a cooling buffer cavity 241; the feed conveying mechanism 203 is used to input the carrier 202 from the docking station into the cooling buffer cavity 241; the transport mechanism 205 is installed on the top of the buffer rack 204, and the transport mechanism 205 is located in the cooling buffer cavity 241; the air conditioning cooling device is located outside the buffer rack 204, and the output end of the cooling medium of the air conditioning cooling device is connected to the cooling buffer cavity 241; the outfeed conveying mechanism 207 is arranged on the base 201. In this embodiment, the outfeed conveying mechanism 207 is connected to the carrier conveying mechanism 102.

[0089] Furthermore, the cooling cache device 20a also includes an upper plate clamping mechanism 208 and a lower plate clamping mechanism 209 which are sequentially arranged on the cache rack 204 along the conveying direction of the conveying mechanism 205. The upper plate clamping mechanism 208 is used to clamp the carrier 202 when the carrier 202 moves to the corresponding position and transport it upward to a first predetermined height position; the conveying mechanism 205 is used to clamp the carrier 202 at the first predetermined height position to a second predetermined height position; the lower plate clamping mechanism 209 is used to transport the carrier 202 at the second predetermined height position downward to the discharge conveying mechanism 207, so that the carrier 202 is output from the cooling cache cavity 241 through the discharge conveying mechanism 207.

[0090] Furthermore, the air conditioning cooling device is used to be electrically connected to an external power source so that the air conditioning cooling device is powered on to generate a cooling medium, and the cooling medium is cold air. The carrier 202 is provided with a bearing slot for bearing the PCB, and when the carrier 202 passes through the cooling buffer cavity 241, the bearing slot is connected to the cooling buffer cavity 241.

[0091] The above-mentioned cooling buffer device 20a, since the carrier 202 is used to carry the PCB, so that the PCB is placed and buffered on the carrier 202 and moves with the carrier 202, the feeding conveying mechanism 203 is used to input the carrier 202 from the docking station into the cooling buffer cavity 241, so that the PCB enters the cooling buffer cavity 241 along with the carrier 202, and the output end of the cooling medium of the air-conditioning cooling device is connected with the cooling buffer cavity 241, so that the cooling medium enters the cooling buffer cavity 241, so that the cooling medium is in continuous contact with the PCB on the carrier 202, so that the PCB on the carrier 202 is cooled down, and the cooling process of the PCB is completed;

[0092] Since the feed conveying mechanism 203 is used to input the carrier 202 from the docking station into the cooling cache chamber 241, the upper plate clamping mechanism 208 is used to clamp the carrier 202 when the carrier 202 moves to the corresponding position and convey it upward to the first predetermined height position, that is, the feed conveying mechanism 203 is used to convey the carrier 202 to the corresponding position in the cooling cache chamber 241, the upper plate clamping mechanism 208 is used to clamp the carrier 202 at the corresponding position and convey it upward to the first predetermined height position, the transport mechanism 205 is used to clamp the carrier 202 at the first predetermined height position to the second predetermined height position, and the lower plate clamping mechanism 209 is used to convey the carrier 202 at the second predetermined height position downward to the discharge conveying mechanism 207, so that the carrier 202 is output from the cooling cache chamber 241 through the discharge conveying mechanism 207, so that the PCB is discharged along with the carrier 202 output from the cooling cache chamber 241, and the PCB unloading process is completed;

[0093] The carrier 202 realizes automatic feeding and unloading of PCBs under the joint action of the feeding conveying mechanism 203, the upper plate clamping mechanism 208, the transporting mechanism 205, the lower plate clamping mechanism 209 and the unloading conveying mechanism 207, so that the PCB is automatically fed and unloaded along with the carrier 202, and the PCB is automatically unloaded along with the carrier 202 output cooling buffer chamber 241, thereby avoiding the problem of the staff shutting down the cooling buffer equipment for PCB production in the prior art, and the cooling buffer equipment disclosed in the present invention does not require manual intervention by the staff, thereby solving the problem of the staff's long manual intervention operation time when loading and unloading PCBs in the prior art, so that the cooling buffer equipment for PCB production can realize non-stop loading and unloading, thereby saving the loading and unloading time of batch PCBs, and thus making the production efficiency of batch PCBs higher.

[0094] In one embodiment, the upper plate clamping mechanism 208 includes two upper plate clamping assemblies 280 arranged opposite to each other, and an upper plate channel 281 is provided between the two upper plate clamping assemblies 280; each upper plate clamping assembly 280 includes an upper plate frame 282, an upper plate driving assembly 283, an upper plate chain transmission assembly 284 and a plurality of upper plate clamping bodies 285, the upper plate driving assembly 283 is installed on the upper plate frame 282, the upper plate chain transmission assembly 284 is movably arranged on the upper plate frame 282, the power output end of the upper plate driving assembly 283 is connected to the upper plate chain transmission assembly 284, and the upper plate driving assembly 283 is used to drive the upper plate chain transmission assembly 284 moves relative to the upper plate frame 282, the upper plate chain transmission assembly 284 moves upward in the upper plate channel 281, and multiple upper plate clamping bodies 285 are arranged at intervals along the circumference of the upper plate chain transmission assembly 284; each upper plate clamping body 285 of the two upper plate clamping assemblies 280 moves synchronously with the corresponding upper plate chain transmission assembly 284, and each upper plate clamping body 285 of the two upper plate clamping assemblies 280 is correspondingly arranged during the upward movement in the upper plate channel 281 to form an upper plate clamping area 2851, and the upper plate clamping area 2851 is used to clamp on the two side edges of the carrier 202; the upper plate frame 282 is connected to the cache rack 204. In this embodiment, when the upper plate driving assembly 283 drives the upper plate chain transmission assembly 284 to move upward along the first direction z in the upper plate channel 281, each upper plate clamping body 285 of the two upper plate clamping assemblies 280 is correspondingly arranged in the upper plate channel 281 and moves upward synchronously with the corresponding upper plate chain transmission assembly 284, forming an upper plate clamping area 2851 for clamping the carrier 202, realizing the upward movement of the carrier 202, that is, realizing the upward buffering and conveying of the PCB. The first direction z is parallel to the z-axis direction.

[0095] In one embodiment, the upper plate driving assembly 283 of each upper plate clamping assembly 280 includes an upper plate driving motor 2831 and an upper plate belt transmission assembly 286; the upper plate belt transmission assembly 286 includes an upper plate driving wheel 2861, an upper plate conveyor belt 2862 and an upper plate driven wheel 2863, the upper plate driving wheel 2861 is installed on the power shaft of the upper plate driving motor 2831, the upper plate conveyor belt 2862 is respectively sleeved on the upper plate driving wheel 2861 and the upper plate driven wheel 2863, the upper plate driven wheel 2863 is sleeved on the transmission shaft of the upper plate chain transmission assembly 284, so that the upper plate driving motor 2831 drives the upper plate chain transmission assembly 284 to move relative to the upper plate frame 282 through the upper plate driving wheel 2861, the upper plate conveyor belt 2862 and the upper plate driven wheel 2863, thereby making the transmission reliability of the upper plate clamping assembly 280 higher.

[0096] In one embodiment, the upper plate chain transmission assembly 284 includes a first driving sprocket 2841, an upper plate chain 2842 and a first driven sprocket 2843, the upper plate chain 2842 is respectively mounted on the first driving sprocket 2841 and the first driven sprocket 2843, the first driving sprocket 2841 and the first driven sprocket 2843 are both rotatably connected to the upper plate frame 282, and the first driving sprocket 2841 is connected to the power output end of the upper plate driving assembly 283; a plurality of upper plate clamping bodies 285 are arranged at intervals along the circumference of the upper plate chain 2842, so that the upper plate clamping assembly 280 can perform synchronous upper plate transmission on multiple PCBs.

[0097] In one embodiment, the lower plate clamping mechanism 209 includes two lower plate clamping assemblies 290 arranged opposite to each other, and a lower plate channel 291 is provided between the two lower plate clamping assemblies 290; each lower plate clamping assembly 290 includes a lower plate frame 292, a lower plate driving assembly 293, a lower plate chain transmission assembly 294 and a plurality of lower plate clamping bodies 295, the lower plate driving assembly 293 is installed on the lower plate frame 292, the lower plate chain transmission assembly 294 is movably arranged on the lower plate frame 292, the power output end of the lower plate driving assembly 293 is connected to the lower plate chain transmission assembly 294, and the lower plate driving assembly 293 is used to drive the lower plate chain transmission assembly 294 moves relative to the lower plate frame 292, the lower plate chain transmission assembly 294 moves downward in the lower plate channel 291, and multiple lower plate clamping bodies 295 are arranged at intervals along the circumference of the lower plate chain transmission assembly 294; each lower plate clamping body 295 of the two lower plate clamping assemblies 290 moves synchronously with the corresponding lower plate chain transmission assembly 294, and each lower plate clamping body 295 of the two lower plate clamping assemblies 290 is correspondingly arranged during the downward movement in the lower plate channel 291 to form a lower plate clamping area 2951, which is used to clamp on both side edges of the carrier 202; the lower plate frame 292 is connected to the cache rack 204. In this embodiment, when the lower plate driving assembly 293 drives the lower plate chain transmission assembly 294 to move downward in the lower plate channel 291 along the first direction z, each lower plate clamping body 295 of the two lower plate clamping assemblies 290 is correspondingly arranged in the lower plate channel 291 and moves downward synchronously with the corresponding lower plate chain transmission assembly 294, forming a lower plate clamping area 2951 for clamping the carrier 202, thereby realizing the downward movement of the carrier 202, that is, realizing the downward buffering and conveying of the PCB.

[0098] In one embodiment, the lower plate driving assembly 293 of each lower plate clamping assembly 290 includes a lower plate driving motor 2931 and a lower plate belt transmission assembly 296; the lower plate belt transmission assembly 296 includes a lower plate driving wheel 2961, a lower plate conveyor belt 2962 and a lower plate driven wheel 2963, the lower plate driving wheel 2961 is installed on the power shaft of the lower plate driving motor 2931, the lower plate conveyor belt 2962 is respectively sleeved on the lower plate driving wheel 2961 and the lower plate driven wheel 2963, the lower plate driven wheel 2963 is sleeved on the transmission shaft of the lower plate chain transmission assembly 294, so that the lower plate driving motor 2931 drives the lower plate chain transmission assembly 294 to move relative to the lower plate frame 292 through the lower plate driving wheel 2961, the lower plate conveyor belt 2962 and the lower plate driven wheel 2963, thereby making the transmission reliability of the lower plate clamping assembly 290 higher.

[0099] In one embodiment, the lower plate chain transmission assembly 294 includes a second driving sprocket 2941, a lower plate chain 2942 and a second driven sprocket 2943, the lower plate chain 2942 is respectively mounted on the second driving sprocket 2941 and the second driven sprocket 2943, the second driving sprocket 2941 and the second driven sprocket 2943 are both rotatably connected to the lower plate frame 292, and the second driving sprocket 2941 is connected to the power output end of the lower plate driving assembly 293; a plurality of lower plate clamping bodies 295 are arranged at intervals along the circumference of the lower plate chain 2942, so that the lower plate clamping assembly 290 can perform synchronous lower plate transmission on multiple PCBs.

[0100] Furthermore, if Fig.13 As shown, in one embodiment, the drying device 30a includes a supporting frame 301, a first feeding mechanism 302, a turning mechanism 303, a second feeding mechanism 304 and a drying mechanism (not shown); the first feeding mechanism 302, the turning mechanism 303, the second feeding mechanism 304 and the drying mechanism are all arranged on the supporting frame 301, and the turning mechanism 303 is located between the first feeding mechanism 302 and the second feeding mechanism 304; the drying mechanism includes a first drying component and a second drying component, the first drying component is arranged adjacent to the first feeding mechanism 302, and the second drying component is arranged adjacent to the second feeding mechanism 302. The feeding mechanism 304 is arranged adjacently; the loading end of the first feeding mechanism 302 is connected to the unloading end of the loading and conveying mechanism 102, so that the first feeding mechanism 302 is used to convey the carrier 202; the flipping mechanism 303 is used to clamp the carrier 202 and flip the carrier 202 when the carrier 202 moves to a predetermined position with the first feeding mechanism 302, so that the carrier 202 is flipped to the second feeding mechanism 304, and the second feeding mechanism 304 is used to convey the carrier 202 to the next process; the first drying component is used to dry one side of the PCB; the second drying component is used to dry the other side of the PCB.

[0101] In this embodiment, both the first drying component and the second drying component are heating fans; after the PCB on the carrier 202 is cleaned by the cleaning device 10a, the carrier 202 is conveyed to the first feeding mechanism 302 by the material conveying mechanism 102, and the first feeding mechanism 302 conveys the carrier 202 along the feeding direction, and the first drying component heats and dries the PCB on the carrier 202 on the first feeding mechanism 302, so that the first drying component is used to dry one side of the PCB, and then the first feeding mechanism 302 is used to convey the carrier 202 to a predetermined position, and the flipping mechanism 303 is used to turn the carrier 202 over to the first feeding mechanism 302. When the carrier 202 moves to the predetermined position, the carrier 202 is clamped and flipped, so that the carrier 202 is flipped to the second feeding mechanism 304, that is, the carrier 202 is flipped to the undried side by the flipping mechanism 303, so that the other side of the PCB of the carrier 202 can be dried well, and the second drying component heats and dries the PCB of the carrier 202 on the second feeding mechanism 304, so that the second drying component is used to dry the other side of the PCB, and the second feeding mechanism 304 transports the carrier 202 along the feeding direction, so that the carrier 202 enters the next process, so that the automation performance of the drying device 30a is better.

[0102] Furthermore, in one embodiment, the drying device 30a also includes a control processor (not shown), a first sensor 305, a second sensor 306 and a third sensor 307. The control processor is installed on the support frame 301, and each sensor, the flipping mechanism 303, the first drying component and the second drying component are electrically connected to the control processor; the first sensor 305 is installed at the loading end of the first feeding mechanism 302; the second sensor 306 is installed at the flipping mechanism 303 at a position adjacent to the unloading end of the first feeding mechanism 302; the third sensor 307 is installed at the unloading end of the second feeding mechanism 304; each sensor is used to sense the carrier.

[0103] In this embodiment, each sensor is an infrared sensor; each sensor is electrically connected to the control processor so that each sensor can feed back the position information of the vehicle 202 to the control processor in real time, so that the staff can better know the real-time position of the vehicle 202. Furthermore, the first sensor 305 is installed at the loading end of the first feeding mechanism 302. When the first sensor 305 senses the carrier 202, the control processor controls the first drying component to heat and dry one side of the PCB of the carrier 202; the second sensor 306 is installed at the position of the flipping mechanism 303 adjacent to the unloading end of the first feeding mechanism 302. When the second sensor 306 senses the carrier 202, the control processor controls the flipping mechanism 303 to clamp the carrier 202 and flip the carrier 202. Then, the control processor controls the second drying component to heat and dry the other side of the PCB of the carrier 202; the third sensor 307 is installed at the unloading end of the second feeding mechanism 304. When the third sensor 307 senses the carrier 202, the carrier 202 enters the next process, so that the automation performance of the drying device 30a is better.

[0104] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosed patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the disclosed patent shall be subject to the attached claims.

Claims

1. A cleaning device, characterized in that: It includes a frame, a material conveying mechanism, a cleaning machine base, a carrier plate blocking mechanism, a moving mechanism, a dry ice cleaning mechanism, a CCD visual system and a controller, wherein the material conveying mechanism, the cleaning machine base, the carrier plate blocking mechanism and the moving mechanism are all arranged on the frame; The cleaning machine base is formed with a connected cleaning chamber and a material transfer channel, the material transfer mechanism is arranged through the material transfer channel, the carrier blocking mechanism, the moving mechanism and the CCD visual system are all located in the cleaning chamber; the dry ice cleaning mechanism includes a dry ice connecting pipe and a dry ice nozzle, the dry ice nozzle is installed at the power output end of the moving mechanism, the moving mechanism is used to drive the dry ice nozzle to move in the cleaning chamber, one end of the dry ice connecting pipe is connected to the dry ice nozzle, and the other end of the dry ice connecting pipe is used to be connected to a dry ice source; the CCD visual system is installed at the power output end of the moving mechanism, and the CCD visual system is used to collect object image data of the PCB of the carrier when the carrier moves to a predetermined position with the material transfer mechanism; The controller is electrically connected to the control end of the moving mechanism, the control end of the dry ice cleaning mechanism, the control end of the carrier blocking mechanism and the CCD visual system respectively, and the controller is used to store the target image data of the target PCB, and calculate the object image data and the target image data to obtain the driving data of the moving mechanism; The moving mechanism drives the dry ice spray head to move to a target position according to the driving data, so that the moving position of the dry ice spray head is calibrated in real time.

2. The cleaning device according to claim 1, characterized in that: The cleaning device further comprises a sensor, which is electrically connected to the controller, is located in the cleaning chamber and is installed on the carrier blocking mechanism, and is used to sense the carrier.

3. The cleaning device according to claim 2, characterized in that: The carrier blocking mechanism includes a blocking mounting body, a blocking driving member and a blocking portion, the blocking mounting body is arranged on the frame, the sensor is mounted on the blocking mounting body, the blocking driving member is mounted on the blocking mounting body, the power output end of the blocking driving member is connected to the blocking portion, the blocking driving member is used to drive the blocking portion to move in a direction parallel to the first direction, the blocking driving member is electrically connected to the controller, and the blocking portion is used to block the carrier when the carrier moves to the predetermined position along with the material conveying mechanism.

4. The cleaning device according to claim 1, characterized in that: The moving mechanism includes a vertical adjustment component, a longitudinal adjustment component and a transverse adjustment component. The dry ice spray head is installed at the power output end of the vertical adjustment component, and the vertical adjustment component is used to drive the dry ice spray head to move in parallel with a first direction; the CCD vision system is installed on the outer peripheral wall of the vertical adjustment component; the vertical adjustment component is installed at the power output end of the longitudinal adjustment component, and the longitudinal adjustment component is used to drive the vertical adjustment component to move in parallel with a second direction; the longitudinal adjustment component is installed at the power output end of the transverse adjustment component, and the transverse adjustment component is used to drive the longitudinal adjustment component to move in parallel with a third direction, and the transverse adjustment component is arranged on the frame; there is an angle between the first direction, the second direction and the third direction.

5. The cleaning device according to claim 1, characterized in that: The cleaning device also includes a pressure plate mechanism, which is located in the cleaning chamber and installed on the material conveying mechanism. The control end of the pressure plate mechanism is electrically connected to the controller. The pressure plate mechanism is used to press the carrier when the carrier moves to the predetermined position with the material conveying mechanism.

6. The cleaning device according to claim 5, characterized in that: The pressure plate mechanism includes a pressure plate mounting member, a pressure plate driving member and a pressure plate portion, the pressure plate mounting member is mounted on the material conveying mechanism, the pressure plate driving member is mounted on the pressure plate mounting member, the control end of the pressure plate driving member is electrically connected to the controller, the power output end of the pressure plate driving member is connected to the pressure plate portion, the pressure plate driving member is used to drive the pressure plate portion to move in a direction parallel to the first direction, and the pressure plate portion is used to press the carrier when the carrier moves to the predetermined position along with the material conveying mechanism.

7. A cleaning method, characterized in that: Used to control the cleaning device according to any one of claims 1 to 6, the cleaning method comprising: The carrier is conveyed to a position corresponding to the carrier plate blocking mechanism by the material conveying mechanism; The carrier is blocked and limited by the carrier plate blocking mechanism; Collecting the object image data through the CCD vision system; Calculating the object image data and the target image data to obtain the driving data; The moving mechanism is controlled to be driven according to the driving data until the dry ice spray head moves to a target position.

8. The cleaning method according to claim 7, characterized in that: Before the step of calculating the object image data and the target image data, the cleaning method further comprises: The target image data corresponding to the target PCB is obtained.

9. The cleaning method according to claim 7, characterized in that: The step of blocking and limiting the carrier by the carrier plate blocking mechanism includes: Blocking the carrier by the carrier blocking mechanism; The carrier is pressed by the pressing plate mechanism.

10. A cooling, cleaning and drying device, characterized in that: It comprises a cooling cache device, a drying device and a cleaning device according to any one of claims 1 to 6, wherein the cooling cache device, the cleaning device and the drying device are arranged in sequence; the cooling cache device is used to cool the PCB of the carrier; the loading end of the loading and conveying mechanism is connected with the unloading end of the cooling cache device, the unloading end of the loading and conveying mechanism is connected with the loading end of the drying device, and the drying device is used to dry the PCB of the carrier after cleaning.

Images