Ultrasonic cleaning machine and ultrasonic cleaning automatic workstation

Abstract

The present invention discloses an ultrasonic cleaning machine, wherein a bottom ultrasonic generator is arranged at the center of the bottom of a cleaning tank, and is used to clean the bottom surface of a workpiece to be cleaned placed in the center of the cleaning tank; the side wall of the cleaning tank is in the shape of an N prism, and the side wall of the cleaning tank is fixedly arranged with N side ultrasonic generators in sequence along the circumferential direction, and each surface of the side wall of the cleaning tank is respectively provided with a side ultrasonic generator; the control circuit is respectively connected to the signal of each side ultrasonic generator, and is used to control the N side ultrasonic generators to emit ultrasonic waves, and clean the side surface of the workpiece to be cleaned placed in the center of the cleaning tank. The present invention also discloses an ultrasonic cleaning automatic workstation. The ultrasonic cleaning machine of the present invention has a simple structure, and can simultaneously perform ultrasonic decontamination on the side and bottom surface of the workpiece to be cleaned placed in the center of the cleaning tank, and has high cleaning efficiency and good effect.

Description

Technical Field

[0001] The invention relates to ultrasonic cleaning technology, in particular to an ultrasonic cleaning machine and an ultrasonic cleaning automatic workstation. Background Art

[0002] Ultrasonic cleaning machines are widely used as common industrial cleaning equipment. Ultrasonic cleaning uses the cavitation, acceleration and straight-forward flow of ultrasound in liquids to directly and indirectly affect liquids and dirt, so that the dirt layer is dispersed, emulsified and peeled off to achieve the purpose of cleaning.

[0003] Common ultrasonic cleaning machines, such as Figure 1 As shown, an ultrasonic generator 102 is installed on the left and right sides of the cleaning tank 10 respectively. At the bottom of the cleaning tank 10, a turntable 91 is fixed at the bottom center of the cleaning tank 10 through a rotating shaft 92 and a bearing. The rotating shaft 92 is driven by a motor 94 through a chain gear transmission mechanism 93, so that the turntable 91 can be driven to rotate at a set speed. The workpiece 9 to be cleaned is placed on the turntable 91. When the cleaning machine is running, the workpiece 9 rotates with the turntable 91, and the ultrasonic generators 102 on both sides perform 360-degree ultrasonic cleaning on the side of the workpiece 9. Common ultrasonic cleaning machines: (i) due to the turntable rotating mechanism installed at the bottom of the cleaning tank 10, it is impossible to install an ultrasonic generator at the bottom, so that one side of the bottom surface of the workpiece cannot be effectively ultrasonically cleaned, which limits the cleaning effect of the workpiece; (ii) due to the turntable rotating mechanism installed at the bottom of the cleaning tank, the mechanical structure of the cleaning machine is complicated, especially at the bearing of the rotating shaft 92, the sealing work must be strictly done, otherwise it will cause the cleaning tank 10 to leak and fail to operate normally. In actual production, due to the harsh working environment of the cleaning tank 10 and the uninterrupted overload operation, the seals often fail, water leakage accidents occur, the failure rate increases, and the maintenance is difficult, which seriously affects the normal production efficiency; (iii) The workpiece cannot be loaded and unloaded automatically, so it cannot achieve full automatic operation. Common ultrasonic cleaning machines have complex structures, high failure rates, and are all semi-automatic. The loading and unloading of workpieces and the intermediate circulation are mainly manual. The front and rear processes cannot be automatically and effectively connected. There are many problems such as cumbersome processes, low efficiency, dirty, messy and poor working places.

[0004] The traction machine rotor is an important component of the traction machine. After being machined, the workpiece has a complex structure, an uneven surface, and many blind holes. In actual production, the cleaning effect is required to be high. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an ultrasonic cleaning machine with a simple structure and capable of simultaneously performing ultrasonic cleaning on the side and bottom surfaces of a workpiece to be cleaned in the center of a cleaning tank, with high cleaning efficiency and good effect.

[0006] In order to solve the above technical problems, the present invention provides an ultrasonic cleaning machine, which includes a cleaning tank 10, an ultrasonic generator, and a control circuit;

[0007] A bottom surface ultrasonic generator 101 is provided at the center of the bottom of the cleaning tank 10 for cleaning the bottom surface of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10;

[0008] The side wall of the cleaning tank 10 is in the shape of N prisms, where N is an integer greater than 2;

[0009] The side wall of the cleaning tank 10 is fixedly provided with N side ultrasonic generators 102 in sequence along the circumferential direction, and each surface of the side wall of the cleaning tank 10 is provided with a side ultrasonic generator 102;

[0010] The control circuit is signal-connected to each side ultrasonic generator 102 , and is used to control the N side ultrasonic generators 102 to emit ultrasonic waves to clean the side of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 .

[0011] Preferably, the side wall of the cleaning tank 10 is in the shape of a regular N prism;

[0012] N=M*F, F is an integer greater than 1, and M is 2, 3, 4 or 5;

[0013] N side ultrasonic generators 102 are divided into F groups, each with M ultrasonic generators;

[0014] N side ultrasonic generators 102 are respectively fixedly arranged on N surfaces of the side wall of the cleaning tank 10, and the M side ultrasonic generators 102 of the same group are evenly fixedly arranged on M side surfaces of the side wall of the cleaning tank 10 along the circumferential direction;

[0015] The control circuit controls the M side ultrasonic generators 102 of the same group to emit ultrasonic waves simultaneously, and controls the F group of side ultrasonic generators 102 to emit ultrasonic waves in sequence and in a cycle.

[0016] Preferably, N=9, F=3, M=3.

[0017] Preferably, the control circuit is a programmable logic control circuit;

[0018] The programmable logic control circuit controls the three groups of ultrasonic generators S1, S2, and S3 to work alternately in sequence through its three signal output terminals Y1, Y2, and Y3, thereby forming an ultrasonic field rotating in a counterclockwise or clockwise direction in the cleaning tank 10.

[0019] Preferably, the side wall of the cleaning tank 10 is in the shape of an axisymmetric N prism, where N is an even number;

[0020] N=M*F, F is an integer greater than 1, and M is 2, 3, 4 or 5;

[0021] N side ultrasonic generators 102 are divided into F groups, each with M ultrasonic generators;

[0022] N side ultrasonic generators 102 are respectively fixedly arranged on N surfaces of the side wall of the cleaning tank 10, and the M side ultrasonic generators 102 of the same group are fixedly arranged on M side surfaces of the side wall of the cleaning tank 10 at intervals along the circumferential direction;

[0023] The control circuit controls the M side ultrasonic generators 102 of the same group to emit ultrasonic waves simultaneously, and controls the F group of side ultrasonic generators 102 to emit ultrasonic waves in sequence and in a cycle.

[0024] Preferably, N=8, F=4, M=2.

[0025] Preferably, the ultrasonic cleaning machine 3 further comprises a cleaning machine actuator mainboard 39;

[0026] The actuator mainboard 39 of the cleaning machine is installed just above the cleaning tank 10;

[0027] A top surface ultrasonic generator 103 is installed at the center of the bottom surface of the actuator mainboard 39 of the cleaning machine for emitting ultrasonic waves to clean the top surface of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 .

[0028] Preferably, the ultrasonic cleaning machine 3 further includes a cleaning machine body 31;

[0029] The cleaning machine body 31 is fixedly provided with two supporting columns 35 and four cleaning guide rails 37;

[0030] The cleaning tank 10 is fixed together with the cleaning machine body 31;

[0031] Two support columns 35 are located at the front and rear sides of the top of the cleaning tank 10, and the two support columns 35 are respectively installed with a cleaning servo drive system 32;

[0032] Four cleaning rails 37 are located at the four corners of the top of the cleaning tank 10;

[0033] The actuator mainboard 39 on the cleaning machine is connected to two cleaning servo drive systems 32 through two lifting support mechanisms 310 disposed on both sides of the top portion;

[0034] Two cleaning servo drive systems 32 drive the actuator mainboard 39 on the cleaning machine to perform lifting and lowering actions along four cleaning guide rails 37;

[0035] Four "L"-shaped workpiece carrying mechanisms 312 are placed opposite to each other on the bottom surface of the actuator mainboard 39 of the cleaning machine;

[0036] Four “L”-shaped workpiece carrying mechanisms 312 are located on both sides of the top surface ultrasonic generator 103 and are used to carry the workpiece 9 to be cleaned.

[0037] Preferably, the ultrasonic cleaning machine 3 further includes a cleaning liquid recycle system 8 and a cleaning liquid tank 34;

[0038] The cleaning liquid tank 34 is fixedly arranged on the right side of the cleaning tank 10;

[0039] The cleaning liquid tank 34 and the cleaning tank 10 are both fixed to the cleaning machine body 31;

[0040] The middle partition wall 38 of the cleaning liquid tank 34 is provided with a water hole;

[0041] The cleaning liquid re-pumping system 8 is used to re-pump the cleaning liquid in the water collection tank 44 into the cleaning liquid tank 34 .

[0042] Preferably, the cleaning liquid re-pumping system 8 comprises a cleaning liquid re-pumping pump 81 and a water pipe 82;

[0043] The cleaning liquid re-suction pump 81 is connected to the water collection tank 44 and the cleaning liquid tank 34 through a water pipe 82 at the water collection tank outlet 83 and the cleaning liquid tank inlet 84 respectively.

[0044] The ultrasonic cleaning automatic workstation using the ultrasonic cleaning machine disclosed in the present invention further includes an assembly line platform 1, a water collection tank 44, a handling robot 2, a turning platform 4, a coating platform 5, a stacking robot 6, and a stacking warehouse 7;

[0045] The water collection tank 44 is located at the rear of the assembly line platform 1;

[0046] The transport robot 2 is arranged at the rear center of the assembly line platform 1, and the base of the transport robot 2 is fixed at the center of the water collection tank 44;

[0047] The turning table 4 is located on the left side of the handling robot 2 and is fixedly connected to the left part of the water collecting tank 44, so as to convert the workpiece 9 thereon between horizontal placement and vertical placement;

[0048] The ultrasonic cleaning machine 3 is disposed adjacent to the right side of the water collection tank 44;

[0049] The coating station 5 is fixedly arranged behind the transport robot 2;

[0050] The transport robot 2 is used to transport the workpiece 9 at the rear end of the assembly line table 1 to the ultrasonic cleaning machine for cleaning, transport the cleaned workpiece 9 from the ultrasonic cleaning machine and lay it flat on the flip table 4, and transport the workpiece 9 that has been flipped from flat to vertical and then flat on the flip table 4 from the flip table 4 to the coating table 5;

[0051] The stacking robot 6 is arranged on the right side of the coating station 5;

[0052] The stacking warehouse 7 is fixed to the right side of the stacking robot 6;

[0053] The stacking robot 6 is used to transport the workpieces 9 from the coating station 5 to the stacking warehouse 7 .

[0054] Preferably, the rear end of the assembly line platform 1 is provided with an arc-shaped limit baffle 11 and an identification sensor 12;

[0055] The arc-shaped limit baffle 11 is used to block the workpiece 9 on the assembly line table 1 at the rear end;

[0056] The identification sensor 12 is used to detect whether there is a workpiece 9 at the rear end of the assembly line table 1;

[0057] When there is a workpiece 9 at the rear end of the assembly line platform 1, the transport robot 2 transports the workpiece 9 at the rear end of the assembly line platform 1 to the ultrasonic cleaning machine 3 for cleaning.

[0058] Preferably, the flip table 4 includes a flip support column 41, a flip clamping device 43, and a flip shaft 42;

[0059] The lower end of the flip support column 41 and the water collecting tank 44 are integrally fixedly connected;

[0060] The flip clamping device 43 is installed on the upper part of the flip support column 41 through the flip shaft 42, and can be flipped by more than 90 degrees with the flip shaft 42 as the axis;

[0061] The upper layer or the lower layer of the flip clamping device 43 can be driven by the clamping servo drive system 46 to move up and down along the clamping guide rail 45 to perform a clamping action on the workpiece 9.

[0062] Preferably, the transport robot 2 includes a hydraulic lift 22, a base 21, a transport support platform 24, and a rotating platform 23;

[0063] The hydraulic lift 22 is mounted on the base 21;

[0064] The rotating platform 23 is installed on the upper end of the top rod of the hydraulic lift 22;

[0065] The transport support platform 24 is installed on the upper side of the rotating platform 23, and an axial vertical servo motor is installed at the central position between the transport support platform 24 and the rotating platform 23;

[0066] The axial vertical servo motor is used to make the transport support platform 24 perform a 90-degree rotation relative to the rotating platform 23;

[0067] Two transport guide rails 26 are arranged in parallel on the upper side of the transport support platform 24;

[0068] The two transport slides 27 are respectively mounted on the two transport guide rails 26 and can be extended and retracted in both directions along the transport guide rails 26;

[0069] The two transport slides 27 are fixedly connected together by a connecting plate;

[0070] A sliding servo motor is disposed between the two transport rails 26 and drives the transport slide 27 to extend and retract in both directions along the transport rails 26 through a connecting plate.

[0071] Preferably, the stacking robot 6 includes a stacking robot mobile platform 61, a stacking robot body 62, a stacking support platform 63, a stacking lateral servo transmission system 64, a stacking lateral guide rail 66, a transfer guide rail 67, and a stacking robot slide 65;

[0072] The stacking robot body 62 is installed on the stacking robot moving platform 61, and can be driven by the stacking transverse servo transmission system 64 to move forward and backward along the stacking transverse guide rail 66;

[0073] The stacking robot body 62 includes a stacking support platform 63 and a stacking vertical guide rail 68;

[0074] The stacking support platform 63 is driven by a vertical servo transmission system to move up and down along the stacking vertical guide rail 68;

[0075] The stacking support platform 63 has a left-right transfer guide rail 67 fixed to the upper side thereof;

[0076] The stacking robot slide 65 is arranged on the transfer rail 67 and can perform left-right bidirectional extension and retraction actions along the left-right transfer rail 67 .

[0077] The ultrasonic cleaning machine 3 of the present invention, when the control circuit controls the N side ultrasonic generators 102 arranged on the side wall of the cleaning tank 10 to regularly and alternately emit ultrasonic waves, a rotating ultrasonic field can be formed in the cleaning tank 10, such as Figure 4As shown, the side of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 is cleaned. The ultrasonic cleaning machine has a simple structure and can simultaneously perform ultrasonic decontamination on the side and bottom of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10, with high cleaning efficiency and good effect, and can efficiently clean workpieces such as traction machine rotors that require high cleaning effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0079] Figure 1 It is a structural schematic diagram of an existing ultrasonic cleaning machine;

[0080] Figure 2 is a three-dimensional diagram of an embodiment of an ultrasonic cleaning machine of the present invention;

[0081] Figure 3 is a top view of an embodiment of an ultrasonic cleaning machine of the present invention;

[0082] Figure 4 It is a schematic diagram of a rotating ultrasonic field formed in a cleaning tank of an ultrasonic cleaning machine according to an embodiment of the present invention;

[0083] Figure 5 It is a schematic diagram of the arrangement of the ultrasonic generators on the side of the cleaning tank of an ultrasonic cleaning machine according to an embodiment of the present invention, wherein the side wall of the cleaning tank is in the shape of a regular 9 prism;

[0084] Figure 6 It is a schematic diagram of a control circuit of an ultrasonic cleaning machine according to an embodiment of the present invention, in which the side wall of the cleaning tank is in the shape of a regular 9 prism;

[0085] Figure 7 This is a working timing diagram of three groups of ultrasonic generators in an embodiment of an ultrasonic cleaning machine of the present invention;

[0086] Figure 8 It is a three-dimensional diagram of the top surface arrangement of the ultrasonic generator of an embodiment of the ultrasonic cleaning machine of the present invention;

[0087] Fig. 9 It is a bottom view of the top surface of an ultrasonic generator of an embodiment of an ultrasonic cleaning machine of the present invention;

[0088] Fig.10 1 is a front side view of the top surface of an ultrasonic generator of an embodiment of an ultrasonic cleaning machine of the present invention;

[0089] Fig.11 It is a right side view of the top surface of an ultrasonic generator of an embodiment of an ultrasonic cleaning machine of the present invention;

[0090] Fig.12 It is a three-dimensional diagram of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0091] Fig.13 It is a left view of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0092] Fig.14 1 is a top view of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0093] Fig.15 It is a rear view of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0094] Fig.16 This is a schematic diagram of a handling robot handling a workpiece in an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0095] Fig.17 This is a three-dimensional diagram of a handling robot in an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0096] Fig.18 It is a rear side view of a handling robot of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0097] Fig.19 It is a right side view of a handling robot of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0098] Fig. 20 1 is a top view of a handling robot of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0099] Fig.21 It is a schematic diagram of the extension and retraction of the slide table of the handling robot of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0100] Fig. 22 It is a schematic diagram of the lifting and lowering of the slide table of the handling robot of an embodiment of the ultrasonic cleaning automatic workstation of the present invention;

[0101] Fig.23 It is a schematic diagram of the rotation of the slide table of the handling robot of an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0102] Fig.24 This is a three-dimensional diagram of a stacking robot in an embodiment of an ultrasonic cleaning automatic workstation of the present invention;

[0103] Fig.25 It is a left side view of a stacking robot of an ultrasonic cleaning automatic workstation according to an embodiment of the present invention;

[0104] Fig.26It is a top view of a stacking robot in one embodiment of an ultrasonic cleaning automatic workstation of the present invention.

[0105] Description of reference numerals in the figures:

[0106] Workpiece 9; 10 cleaning tank; 101 bottom ultrasonic generator; 102 side ultrasonic generator; 103 top ultrasonic generator; 3 ultrasonic cleaning machine; 39 cleaning machine upper actuator mainboard; 31 cleaning machine body; 35 support column; 37 cleaning guide rail; 32 cleaning servo transmission system; 310 lifting support mechanism; 312 workpiece bearing mechanism; 8 cleaning liquid suction system; 34 cleaning liquid tank; 38 intermediate partition wall; 44 water collection tank; 81 cleaning liquid suction pump; 82 water pipe; 83 water collection tank outlet; 84 cleaning liquid tank inlet; 1 assembly line platform; 2 handling robot; 4 flip table; 5 coating platform; 6 stacking robot; 7 stacking warehouse; 11 limit baffle; 12 identification sensor; 41 flip support column; 43 flip clamping device; 42 flip axis; 46 clamping servo transmission system; 45 clamping guide rail; 22 hydraulic lift; 21 base; 24 1. Transport support platform; 23. Rotating platform; 26. Transport guide rail; 27. Transport slide; 61. Mobile platform of stacking robot; 62. Main body of stacking robot; 63. Stacking support platform; 64. Horizontal servo transmission system of stacking; 66. Horizontal guide rail of stacking; 67. Transfer guide rail; 65. Slide of stacking robot. DETAILED DESCRIPTION

[0107] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0108] Embodiment 1

[0109] like Figure 2 , Figure 3 As shown, the ultrasonic cleaning machine 3 includes a cleaning tank 10, an ultrasonic generator, and a control circuit;

[0110] A bottom surface ultrasonic generator 101 is provided at the center of the bottom of the cleaning tank 10 for cleaning the bottom surface of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10;

[0111] The side wall of the cleaning tank 10 is in the shape of N prisms, where N is an integer greater than 2;

[0112] The side wall of the cleaning tank 10 is fixedly provided with N side ultrasonic generators 102 in sequence along the circumferential direction, and each surface of the side wall of the cleaning tank 10 is provided with a side ultrasonic generator 102;

[0113] The control circuit is signal-connected to each side ultrasonic generator 102 , and is used to control the N side ultrasonic generators 102 to emit ultrasonic waves to clean the side of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 .

[0114] In the ultrasonic cleaning machine 3 of the first embodiment, when the control circuit controls the N side ultrasonic generators 102 arranged on the side wall of the cleaning tank 10 to regularly and alternately emit ultrasonic waves, a rotating ultrasonic field can be formed in the cleaning tank 10, such as Figure 4 As shown, the side of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 is cleaned. The ultrasonic cleaning machine has a simple structure and can simultaneously perform ultrasonic decontamination on the side and bottom of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10, with high cleaning efficiency and good effect, and can efficiently clean workpieces such as traction machine rotors that require high cleaning effects.

[0115] Embodiment 2

[0116] Based on the ultrasonic cleaning machine 3 of the first embodiment, the side wall of the cleaning tank 10 is in the shape of a regular N prism;

[0117] N=M*F, F is an integer greater than 1, and M is 2, 3, 4 or 5;

[0118] N side ultrasonic generators 102 are divided into F groups, each with M ultrasonic generators;

[0119] N side ultrasonic generators 102 are respectively fixedly arranged on N surfaces of the side wall of the cleaning tank 10, and the M side ultrasonic generators 102 of the same group are evenly fixedly arranged on M side surfaces of the side wall of the cleaning tank 10 along the circumferential direction;

[0120] The control circuit controls the M side ultrasonic generators 102 of the same group to emit ultrasonic waves simultaneously, and controls the F group of side ultrasonic generators 102 to emit ultrasonic waves in sequence and in a cycle.

[0121] Preferably, N=9, F=3, M=3. Figure 5 As shown, nine side ultrasonic generators 102 are fixedly arranged on nine surfaces of the inner wall of the cleaning tank 10 in sequence, and three side ultrasonic generators 102 in the same group are evenly fixedly arranged on the side wall of the cleaning tank 10 along the circumferential direction; the control circuit controls the three side ultrasonic generators 102 in the same group to emit ultrasonic waves simultaneously (S1=U1,4,7 is a group to emit ultrasonic waves simultaneously; S2=U2,5,8 is a group to emit ultrasonic waves simultaneously; S3=U3,6,9 is a group to emit ultrasonic waves simultaneously), and controls the three groups of side ultrasonic generators 102 to emit ultrasonic waves alternately in sequence.

[0122] like Figure 6As shown, the control circuit may be a programmable logic control circuit (PLC), which can control the three groups of ultrasonic generators S1, S2, and S3 to work alternately in sequence through its three signal output terminals Y1, Y2, and Y3, thereby forming an ultrasonic field rotating in a counterclockwise direction (or clockwise direction) in the cleaning tank 10. Figure 7 As shown, I is the wave intensity when the ultrasonic generator is working normally, Δt is the time interval between the normal working of each group of side ultrasonic generators 102, assuming that two adjacent groups of side ultrasonic generators alternate once, and the angle of rotation of the ultrasonic field is θ, then θ=360 / N, assuming the alternating frequency is f (times / min), then the rotation speed of the rotating ultrasonic field v=(360 / N)·f / 360=f / F (r / min). When f increases, Δt will decrease until it is 0. Thus, a continuous, uniform ultrasonic field that rotates dynamically at a speed v is formed in the cleaning tank 10, and the workpiece 9 is continuously cleaned in all directions.

[0123] Embodiment 3

[0124] Based on the ultrasonic cleaning machine 3 of the first embodiment, the side wall of the cleaning tank 10 is an axisymmetric N-prism shape, where N is an even number;

[0125] N = M*F, F is a positive integer, M is 2, 3, 4 or 5;

[0126] N side ultrasonic generators 102 are divided into F groups, each with M ultrasonic generators;

[0127] N side ultrasonic generators 102 are respectively fixedly arranged on N surfaces of the side wall of the cleaning tank 10, and the M side ultrasonic generators 102 of the same group are fixedly arranged on M side surfaces of the side wall of the cleaning tank 10 at intervals along the circumferential direction;

[0128] The control circuit controls the M side ultrasonic generators 102 of the same group to emit ultrasonic waves simultaneously, and controls the F group of side ultrasonic generators 102 to emit ultrasonic waves in sequence and in a cycle.

[0129] Preferably, N = 8, F = 4, and M = 2. The side wall of the cleaning tank 10 is in an axisymmetric 8-prism shape.

[0130] Embodiment 4

[0131] Based on the first embodiment, the ultrasonic cleaning machine 3 further includes a cleaning machine actuator mainboard 39;

[0132] The actuator mainboard 39 of the cleaning machine is installed just above the cleaning tank 10;

[0133] A top surface ultrasonic generator 103 is installed at the center of the bottom surface of the actuator mainboard 39 of the cleaning machine for emitting ultrasonic waves to clean the top surface of the workpiece 9 to be cleaned placed in the center of the cleaning tank 10 .

[0134] The ultrasonic cleaning machine of the fourth embodiment can simultaneously perform ultrasonic cleaning on the side, bottom and top surfaces of the workpiece 9 to be cleaned in the center of the cleaning tank 10, thereby achieving 360-degree ultrasonic cleaning of the workpiece 9 without dead angles, and has a simple structure and a low failure rate.

[0135] Embodiment 5

[0136] Based on the fourth embodiment, Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, the ultrasonic cleaning machine 3 also includes a cleaning machine body 31;

[0137] The cleaning machine body 31 is fixedly provided with two supporting columns 35 and four cleaning guide rails 37;

[0138] The cleaning tank 10 is fixed together with the cleaning machine body 31;

[0139] Two support columns 35 are located at the front and rear sides of the top of the cleaning tank 10, and the two support columns 35 are respectively installed with a cleaning servo drive system 32;

[0140] Four cleaning rails 37 are located at the four corners of the top of the cleaning tank 10;

[0141] The actuator mainboard 39 on the cleaning machine is connected to two cleaning servo drive systems 32 through two lifting support mechanisms 310 disposed on both sides of the top portion;

[0142] Two cleaning servo drive systems 32 drive the actuator mainboard 39 on the cleaning machine to perform lifting and lowering actions along four cleaning guide rails 37;

[0143] Four "L"-shaped workpiece carrying mechanisms 312 are placed opposite to each other on the bottom surface of the actuator mainboard 39 of the cleaning machine;

[0144] Four “L”-shaped workpiece carrying mechanisms 312 are located on both sides of the top surface ultrasonic generator 103 and are used to carry the workpiece 9 to be cleaned.

[0145] Embodiment 6

[0146] Based on the fourth embodiment, the ultrasonic cleaning machine 3 further includes a cleaning liquid re-extraction system 8 and a cleaning liquid tank 34;

[0147] The cleaning liquid tank 34 is fixedly arranged on the right side of the cleaning tank 10;

[0148] The cleaning liquid tank 34 and the cleaning tank 10 are both fixed to the cleaning machine body 31;

[0149] The middle partition wall 38 of the cleaning liquid tank 34 is provided with a water hole;

[0150] The cleaning liquid re-pumping system 8 is used to re-pump the cleaning liquid in the water collection tank 44 into the cleaning liquid tank 34 .

[0151] Preferably, the cleaning liquid re-pumping system 8 comprises a cleaning liquid re-pumping pump 81 and a water pipe 82;

[0152] The cleaning liquid re-suction pump 81 is connected to the water collection tank 44 and the cleaning liquid tank 34 through a water pipe 82 at the water collection tank outlet 83 and the cleaning liquid tank inlet 84 respectively.

[0153] The ultrasonic cleaning machine 3 of the sixth embodiment is supplemented with a cleaning liquid re-drawing system, which can automatically collect the cleaning liquid after the workpiece is turned over and re-draw it into the cleaning liquid tank 34 .

[0154] Embodiment 7

[0155] An ultrasonic cleaning automatic workstation using any one of the ultrasonic cleaning machines 3 of the first to sixth embodiments, such as Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, it also includes an assembly line platform 1, a water collection tank 44, a handling robot 2, a turning platform 4, a coating platform 5, a stacking robot 6, and a stacking warehouse 7;

[0156] The water collection tank 44 is located at the rear of the assembly line platform 1;

[0157] The transport robot 2 is arranged at the rear center of the assembly line platform 1, and the base of the transport robot 2 is fixed at the center of the water collection tank 44;

[0158] The turning table 4 is located on the left side of the handling robot 2 and is fixedly connected to the left part of the water collecting tank 44, so as to convert the workpiece 9 thereon between horizontal placement and vertical placement;

[0159] The ultrasonic cleaning machine 3 is disposed adjacent to the right side of the water collection tank 44;

[0160] The coating station 5 is fixedly arranged behind the handling robot 2, and the coating station 5 can adopt the solution of Chinese patent application ZL201920777290.9;

[0161] The transport robot 2 is used to transport the workpiece 9 at the rear end of the assembly line table 1 to the ultrasonic cleaning machine for cleaning, transport the cleaned workpiece 9 from the ultrasonic cleaning machine and lay it flat on the flip table 4, and transport the workpiece 9 that has been flipped from flat to vertical and then flat on the flip table 4 from the flip table 4 to the coating table 5;

[0162] The stacking robot 6 is arranged at a suitable position on the right side of the coating station 5;

[0163] The stacking warehouse 7 is fixed at a suitable position on the right side of the stacking robot 6;

[0164] The stacking robot 6 is used to transport the workpieces 9 from the coating station 5 to the stacking warehouse 7 .

[0165] The ultrasonic cleaning automatic workstation of the seventh embodiment integrates the workflow of ultrasonic cleaning, coating, stacking and warehousing of workpieces, integrates the flow process of workpieces 9 between various devices, changes the existing layout, and enables workpieces 9 to be orderly transferred between the assembly line table 1, the turning table 4, the ultrasonic cleaning machine 3 and the coating table 5 through a flexible handling robot 2 (such as Fig.16 As shown in the figure, the loading and unloading of workpieces and the intermediate circulation are realized automatically, so that the front and rear processes are automatically and effectively connected, and the intelligent and fully automatic operation of the assembly line is realized. The ultrasonic cleaning automatic workstation optimizes the production process, replaces human labor with a handling robot 2, and organically combines the automatic stacking and warehousing system, improves the working environment, improves work efficiency, and reduces human labor. The ultrasonic cleaning automatic workstation is suitable for ultrasonic cleaning of workpieces, especially for automatic ultrasonic cleaning of elevator traction machine rotors.

[0166] Embodiment 8

[0167] Based on the ultrasonic cleaning automatic workstation of the seventh embodiment, the rear end of the assembly line platform 1 is provided with an arc-shaped limit baffle 11 and an identification sensor 12;

[0168] The arc-shaped limit baffle 11 is used to block the workpiece 9 on the assembly line table 1 at the rear end;

[0169] The identification sensor 12 is used to detect whether there is a workpiece 9 at the rear end of the assembly line table 1;

[0170] When there is a workpiece 9 at the rear end of the assembly line platform 1, the transport robot 2 transports the workpiece 9 at the rear end of the assembly line platform 1 to the ultrasonic cleaning machine 3 for cleaning.

[0171] Embodiment 9

[0172] Based on the ultrasonic cleaning automatic workstation of embodiment 7, Figure 2 , Figure 3 As shown, the flip table 4 includes a flip support column 41, a flip clamping device 43, and a flip shaft 42;

[0173] The lower end of the flip support column 41 and the water collecting tank 44 are integrally fixedly connected;

[0174] The flip clamping device 43 is installed on the upper part of the flip support column 41 through the flip shaft 42, and can be flipped by more than 90 degrees with the flip shaft 42 as the axis;

[0175] The upper layer or the lower layer of the flip clamping device 43 can be driven by the clamping servo drive system 46 to move up and down along the clamping guide rail 45 to perform a clamping action on the workpiece 9.

[0176] Embodiment 10

[0177] Based on the ultrasonic cleaning automatic workstation of embodiment 7, Fig.17 , Fig.18 , Fig.19 and Fig. 20 As shown, the transport robot 2 includes a hydraulic lift 22, a base 21, a transport support platform 24, and a rotating platform 23;

[0178] The hydraulic lift 22 is mounted on the base 21;

[0179] The rotating platform 23 is installed on the upper end of the top rod of the hydraulic lift 22;

[0180] The transport support platform 24 is installed on the upper side of the rotating platform 23, and an axial vertical servo motor is installed at the central position between the transport support platform 24 and the rotating platform 23;

[0181] The axial vertical servo motor is used to make the transport support platform 24 perform a 90-degree rotation relative to the rotating platform 23;

[0182] Two transport guide rails 26 are arranged in parallel on the upper side of the transport support platform 24;

[0183] The two transport slides 27 are respectively mounted on the two transport guide rails 26 and can be extended and retracted in both directions along the transport guide rails 26;

[0184] The two transport slides 27 are fixedly connected (for example, welded) together via a connecting plate;

[0185] A sliding servo motor is disposed between the two transport rails 26 and drives the transport slide 27 to extend and retract in both directions along the transport rails 26 through a connecting plate.

[0186] In the ultrasonic cleaning automatic workstation of the tenth embodiment, the transport robot 2 can realize the up and down movement of the transport slide 27 through its hydraulic lift 22 (such as Fig. 22 As shown), the 90-degree rotation of the transport slide 27 can be achieved through its rotating platform 23 (as shown Fig.23 As shown), the sliding servo motor can drive the transport slide 27 to extend and retract along the transport guide rail 26 in both directions (as shown in FIG. Fig.21As shown), the handling robot 2 can realize the effective connection and orderly flow of the workpiece 9 between the assembly line table 1, the turning table 4, the ultrasonic cleaning machine 3 and the coating table 5 through the effective coordination of the lifting, rotating and telescopic actions of its handling slide 27, and can automatically transport the workpiece 9 between various devices and load and unload materials, so that the workpiece 9 can be circulated in an orderly manner according to the predetermined operating procedure.

[0187] Embodiment 11

[0188] Based on the ultrasonic cleaning automatic workstation of embodiment 7, Fig.24 , Fig.25 , Fig.26 As shown, the stacking robot 6 includes a stacking robot moving platform 61, a stacking robot body 62, a stacking support platform 63, a stacking lateral servo transmission system 64, a stacking lateral guide rail 66, a transfer guide rail 67, and a stacking robot slide 65;

[0189] The stacking robot body 62 is installed on the stacking robot moving platform 61, and can be driven by the stacking transverse servo transmission system 64 to move forward and backward along the stacking transverse guide rail 66;

[0190] The stacking robot body 62 includes a stacking support platform 63 and a stacking vertical guide rail 68;

[0191] The stacking support platform 63 is driven by a vertical servo transmission system to move up and down along the stacking vertical guide rail 68;

[0192] The stacking support platform 63 has a left-right transfer guide rail 67 fixed to the upper side thereof;

[0193] The stacking robot slide 65 is arranged on the transfer rail 67 and can perform left-right bidirectional extension and retraction actions along the left-right transfer rail 67 .

[0194] In the ultrasonic cleaning automatic workstation of the tenth embodiment, the stacking robot 6 and its actuator can move the workpiece 9 from the coating station 5 to the space of the stacking warehouse 7 for stacking and warehousing through the effective coordination of the forward, backward, upward, downward, and leftward and rightward movements.

[0195] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An ultrasonic cleaning machine, characterized in that: It comprises a cleaning tank (10), an ultrasonic generator, a control circuit, an upper actuator mainboard (39) and a cleaning machine body (31); The actuator mainboard (39) on the cleaning machine is installed directly above the cleaning tank (10); A top surface ultrasonic generator (103) is installed at the center of the bottom surface of the actuator mainboard (39) on the cleaning machine, and is used to emit ultrasonic waves to clean the top surface of the workpiece (9) to be cleaned placed in the center of the cleaning tank (10); The cleaning machine body (31) is fixedly provided with two supporting columns (35) and four cleaning guide rails (37); The cleaning tank (10) is fixed together with the cleaning machine body (31); Two supporting columns (35) are located at the front and rear sides of the top of the cleaning tank (10), and the two supporting columns (35) are respectively equipped with a cleaning servo drive system (32); Four cleaning guide rails (37) are located at the four corners of the top end of the cleaning tank (10); The actuator mainboard (39) on the cleaning machine is connected to two cleaning servo drive systems (32) via two lifting support mechanisms (310) disposed on both sides of the top portion; Two cleaning servo drive systems (32) drive the actuator mainboard (39) on the cleaning machine to perform lifting and lowering actions along four cleaning guide rails (37); Four "L"-shaped workpiece bearing mechanisms (312) are disposed opposite each other in pairs on the bottom surface of the actuator mainboard (39) of the cleaning machine; Four "L"-shaped workpiece carrying mechanisms (312) are located on both sides of the top surface ultrasonic generator (103) and are used to carry the workpiece (9) to be cleaned; A bottom surface ultrasonic generator (101) is provided at the center of the bottom of the cleaning tank (10) for cleaning the bottom surface of a workpiece (9) to be cleaned placed at the center of the cleaning tank (10); The side wall of the cleaning tank (10) is in the shape of a regular N prism, where N is an integer greater than 2; N=M*F, F is an integer greater than 1, and M is 2, 3, 4 or 5; N side ultrasonic generators (102) are divided into F groups, each group having M ultrasonic generators; N side ultrasonic generators (102) are respectively fixedly arranged on N surfaces of the side wall of the cleaning tank (10), and the M side ultrasonic generators (102) of the same group are evenly fixedly arranged on the M side surfaces of the side wall of the cleaning tank (10) along the circumferential direction; The control circuit is connected to each side ultrasonic generator (102) by signal, and is used to control the M side ultrasonic generators (102) of the same group to emit ultrasonic waves simultaneously, and to control the F group of side ultrasonic generators (102) to emit ultrasonic waves in sequence in a cycle, so as to clean the side of the workpiece (9) to be cleaned placed in the center of the cleaning tank (10).

2. The ultrasonic cleaning machine according to claim 1, characterized in that: N=9, F=3, M=3.

3. The ultrasonic cleaning machine according to claim 2, characterized in that: The control circuit is a programmable logic control circuit; The programmable logic control circuit controls the three groups of ultrasonic generators S1, S2 and S3 respectively through its three signal output terminals Y1, Y2 and Y3 to work alternately in a sequential order, thereby forming an ultrasonic field rotating in a counterclockwise or clockwise direction in the cleaning tank (10).

4. The ultrasonic cleaning machine according to claim 1, characterized in that: The side wall of the cleaning tank (10) is in the shape of an axisymmetric N-prism, where N is an even number.

5. The ultrasonic cleaning machine according to claim 4, characterized in that: N=8, F=4, M=2.

6. The ultrasonic cleaning machine according to claim 1, characterized in that: The ultrasonic cleaning machine (3) further comprises a cleaning liquid re-extraction system (8) and a cleaning liquid tank (34); The cleaning liquid tank (34) is fixedly arranged on the right side of the cleaning tank (10); The cleaning liquid tank (34) and the cleaning tank (10) are both fixed to the cleaning machine body (31); A water hole is provided on the middle partition wall (38) of the cleaning liquid tank (34); The cleaning liquid re-drawing system (8) is used to re-draw the cleaning liquid in the water collection tank (44) into the cleaning liquid tank (34).

7. The ultrasonic cleaning machine according to claim 6, characterized in that: The cleaning liquid re-drawing system (8) comprises a cleaning liquid re-drawing pump (81) and a water pipe (82); The cleaning liquid re-drawing pump (81) is connected to the water collecting tank (44) and the cleaning liquid tank (34) through a water pipe (82) at the water collecting tank outlet (83) and the cleaning liquid tank inlet (84), respectively.

8. An ultrasonic cleaning automatic workstation using the ultrasonic cleaning machine according to any one of claims 1 to 7, characterized in that: It also includes an assembly line platform (1), a water collection tank (44), a handling robot (2), a turning platform (4), a coating platform (5), a stacking robot (6), and a stacking warehouse (7); The water collection tank (44) is located at the rear of the assembly line platform (1); The transport robot (2) is arranged at a rear central position of the assembly line platform (1), and a base of the transport robot (2) is fixed at the center of the water collecting tank (44); The turning table (4) is located on the left side of the handling robot (2) and is fixedly connected to the left part of the water collecting tank (44) and is used to convert the workpiece (9) thereon between horizontal placement and vertical placement; The ultrasonic cleaning machine (3) is arranged adjacent to the right side of the water collecting tank (44); The coating station (5) is fixedly arranged behind the transport robot (2); The transport robot (2) is used to transport the workpiece (9) at the rear end of the assembly line table (1) to the ultrasonic cleaning machine for cleaning, transport the cleaned workpiece (9) from the ultrasonic cleaning machine and lay it flat on the turning table (4), and transport the workpiece (9) that has been turned flat, upright, and flat on the turning table (4) from the turning table (4) to the coating table (5); The stacking robot (6) is arranged on the right side of the coating station (5); The stacking warehouse (7) is fixed to the right side of the stacking robot (6); The stacking robot (6) is used to transport the workpiece (9) from the coating station (5) to the stacking warehouse (7).

9. The ultrasonic cleaning automatic workstation according to claim 8, characterized in that: The rear end of the assembly line platform (1) is provided with an arc-shaped limit baffle (11) and an identification sensor (12); The arc-shaped limiting baffle (11) is used to block the workpiece (9) on the assembly line table (1) at the rear end; The identification sensor (12) is used to detect whether there is a workpiece (9) at the rear end of the assembly line table (1); When there is a workpiece (9) at the rear end of the assembly line platform (1), the transport robot (2) transports the workpiece (9) at the rear end of the assembly line platform (1) to the ultrasonic cleaning machine (3) for cleaning.

10. The ultrasonic cleaning automatic workstation according to claim 8, characterized in that: The turning table (4) comprises a turning support column (41), a turning clamping device (43), and a turning shaft (42); The lower end of the flip support column (41) and the water collecting tank (44) are integrally fixedly connected; The flip clamping device (43) is installed on the upper part of the flip support column (41) via the flip shaft (42), and can be flipped at an angle of more than 90 degrees with the flip shaft (42) as the axis; The upper layer or the lower layer of the flip clamping device (43) can be driven by a clamping servo drive system (46) to move up and down along the clamping guide rail (45) to perform a clamping action on the workpiece (9).

11. The ultrasonic cleaning automatic workstation according to claim 8, characterized in that: The transport robot (2) comprises a hydraulic lift (22), a base (21), a transport support platform (24), and a rotating platform (23); The hydraulic lift (22) is mounted on a base (21); The rotating platform (23) is mounted on the upper end of the top rod of the hydraulic lift (22); The transport support platform (24) is installed on the upper side of the rotating platform (23), and an axial vertical servo motor is installed at a central position between the transport support platform (24) and the rotating platform (23); The axial vertical servo motor is used to make the transport support platform (24) perform a 90-degree rotational movement relative to the rotating platform (23); Two transport guide rails (26) are arranged in parallel on the upper side of the transport support platform (24); The two transport slides (27) are respectively mounted on the two transport guide rails (26) and can be extended and retracted in two directions along the transport guide rails (26); The two transport slides (27) are fixedly connected together via a connecting plate; A sliding servo motor is arranged between the two transport guide rails (26) and drives the transport slide (27) to extend and retract in two directions along the transport guide rails (26) through the connecting plate.

12. The ultrasonic cleaning automatic workstation according to claim 8, characterized in that: The stacking robot (6) comprises a stacking robot moving platform (61), a stacking robot body (62), a stacking support platform (63), a stacking lateral servo transmission system (64), a stacking lateral guide rail (66), a transfer guide rail (67), and a stacking robot slide (65); The stacking robot body (62) is mounted on the stacking robot mobile platform (61), and can be driven by a stacking transverse servo drive system (64) to move forward and backward along a stacking transverse guide rail (66); The stacking robot body (62) comprises a stacking support platform (63) and a stacking vertical guide rail (68); The stacking support platform (63) is driven by a vertical servo drive system to move up and down along the stacking vertical guide rail (68); A left-right transfer guide rail (67) is fixed on the upper side of the stacking support platform (63); The stacking robot slide (65) is arranged on the transfer guide rail (67) and can perform left-right bidirectional extension and retraction actions along the left-right transfer guide rail (67).

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