Unloading robot module and unloading method thereof, and fully automatic brush plate cleaning equipment

Abstract

The present invention relates to the technical field of camera modules, and provides a blanking robot module, comprising a first driver for driving in the X-axis direction, a second driver for driving in the Y-axis direction, a third driver for driving in the Z-axis direction, a fourth driver for driving in the Z-axis direction, and a fifth driver for driving in the Z-axis direction, wherein the second driver drives the first driver to move, the first driver drives the third driver to move, the third driver drives the fourth driver to move, the fourth driver drives the fifth driver to move, and a robot for clamping a carrier plate is installed on the fifth driver. A fully automatic brush plate cleaning device is also provided. A blanking method for the above-mentioned blanking robot module is also provided. The present invention adopts three drivers driving in the Z-axis direction, which can ensure that the robot can fully cover the carrier plate and stably and reliably grasp the carrier plate.

Description

Technical Field

[0001] The present invention relates to the technical field of camera modules, and in particular to a blanking robot module and a blanking method thereof, as well as a fully automatic brush plate cleaning device. Background Art

[0002] The biggest problem faced during the production of camera modules is the control of dirt and dust spots, also known as particle control.

[0003] In particular, after CSP chips are mounted through the SMT process, up to 80% of the chips' surfaces are contaminated with dirt and spots. Conventional practice involves ultrasonic and plasma cleaning, followed by transfer to a semi-automatic brushing machine for manual loading and scrubbing, followed by temporary storage in a water tank for further spin-washing. However, this is adversely affected by personnel omissions and the untimely placement of materials in the water tank. Furthermore, the semi-automatic brushing equipment's inability to seal the water mist during the scrubbing process severely impacts the Class 100 dust-free workshop environment, resulting in significant losses in both costs and human resources. This has also eroded customer confidence and, in severe cases, even led to customer loss.

[0004] In addition, the existing semi-automatic plate brushing machine has a low degree of automation in its unloading mechanism and an imprecise grasping mechanism, which cannot meet the requirements of fully automatic plate brushing. Summary of the Invention

[0005] The purpose of the present invention is to provide a blanking robot module and a blanking method thereof, as well as a fully automatic brush plate cleaning device, which can at least solve some of the defects in the prior art.

[0006] To achieve the above-mentioned objectives, an embodiment of the present invention provides the following technical solutions: a blanking robot module, comprising a first driver for driving in the X-axis direction, a second driver for driving in the Y-axis direction, a third driver for driving in the Z-axis direction, a fourth driver for driving in the Z-axis direction, and a fifth driver for driving in the Z-axis direction, wherein the second driver drives the first driver to move, the first driver drives the third driver to move, the third driver drives the fourth driver to move, the fourth driver drives the fifth driver to move, and the fifth driver is equipped with a robot for clamping a carrier plate.

[0007] Furthermore, the robot arm includes a placing table for placing the carrier plate and a clamping claw assembly for clamping the carrier plate on the placing table.

[0008] Furthermore, the clamping jaw assembly includes a plurality of first clamping jaws for pressing the outer edge of the carrier plate onto the shelf, and a first driving member for driving each of the first clamping jaws to move toward or away from the shelf.

[0009] Furthermore, the clamping jaw assembly further includes a second clamping jaw for pressing the inner edge of the carrier plate onto the shelf, and a second driving member for driving the second clamping jaw to move toward or away from the shelf.

[0010] Furthermore, the second clamping jaw is a circular clamping jaw, and the placing platform is also provided with the circular clamping jaw, and the two circular clamping jaws arranged opposite to each other cooperate to clamp the inner edge of the carrier plate.

[0011] Furthermore, the shelf includes side walls on both sides, and the two side walls expand outward to form a flared configuration.

[0012] An embodiment of the present invention provides another technical solution: a fully automatic brush plate cleaning device, comprising a material storage water tank and the above-mentioned unloading robot module, wherein the unloading robot module places the carrier plate into the material box in the material storage water tank.

[0013] Furthermore, there are multiple material boxes in the unloading robot module, and each of the material boxes is arranged in sequence along the Y-axis direction.

[0014] Furthermore, it also includes a blanking rotary module, and the blanking robot module takes materials from the blanking rotary module.

[0015] The embodiment of the present invention provides another technical solution: a blanking method of the above-mentioned blanking robot module, comprising the following steps:

[0016] S1, the first driver and the second driver are in motion to quickly move the manipulator to a material picking position;

[0017] S2, the third driver is actuated to quickly bring the manipulator to the vicinity of the carrier;

[0018] S3, the fourth driver is actuated to bring the robot arm into contact with the carrier plate;

[0019] S4, the fifth driver is actuated to drive the manipulator to fully grasp the carrier;

[0020] S5, the third driver, the fourth driver, and the fifth driver return to their original positions, and the first driver and the second driver operate to move the manipulator that has grasped the carrier to a position for unloading.

[0021] S6, the third driver, the fourth driver and the fifth driver cooperate to place the carrier plate into the groove of the material box

[0022] Compared with the prior art, the beneficial effects of the present invention are: three drivers driving in the Z-axis direction are adopted, wherein the third driver can enable the manipulator to quickly reach a position near the carrier, thereby improving the material picking accuracy; the fourth driver can slowly and accurately send the manipulator to contact the carrier, and the fifth driver then moves the manipulator in the Z-axis direction, which can ensure that the manipulator can fully cover the carrier and stably and reliably grasp the carrier. Compared with the existing conventional manipulator grasping, this module is easier and more accurate to grasp the carrier, and when placing the unloading platform, that is, putting the carrier into the material storage tank, the coordinated actions in the three Z-axis directions can ensure that the carrier is inserted into the material box in the material storage tank. Even if the carrier is deformed, the carrier can be slowly inserted into the material box. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a process flow of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0024] Figure 2a A schematic diagram of an automatic feeding module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (showing five feeding boxes);

[0025] Figure 2b A schematic diagram of an automatic feeding module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (showing three feeding boxes);

[0026] Figure 2c for Figure 2b A partial enlarged schematic diagram;

[0027] Figure 3a A schematic diagram of a loading mechanism and an empty material storage box of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0028] Figure 3b A schematic diagram of a material box retrieving device of a loading mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (showing the material box);

[0029] Figure 3c A schematic diagram of a feeding and pushing device of a loading mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0030] Figure 3d A schematic diagram of a material box retrieving device of a loading mechanism of a fully automatic brush plate cleaning device provided in an embodiment of the present invention (the material box is not shown);

[0031] Figure 3e for Figure 3d A partial enlarged schematic diagram;

[0032] Figure 4aA schematic diagram of the partial structure of a brush plate carrier of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0033] Figure 4b A schematic diagram from a first perspective of a plate carrying platform of a brush plate carrier of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0034] Figure 4c A schematic diagram from a second perspective of a brush plate carrier platform of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0035] Figure 4d A schematic diagram of an unloading platform of a brush plate carrier of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0036] Figure 4e A schematic diagram of an upper carrier of a brush plate carrier of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0037] Figure 4f for Figure 4a A partial enlarged schematic diagram (another perspective);

[0038] Figure 4g for Figure 4a A partial enlarged schematic diagram (another perspective);

[0039] Figure 5a A schematic diagram of a bristle wheel cleaning mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0040] Figure 5b A schematic diagram of a bristle wheel cleaning mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention with the cover removed;

[0041] Figure 5c for Figure 5b A partial enlarged schematic diagram;

[0042] Figure 5d A schematic diagram of a water jet removal component and an air knife removal component of a hair wheel cleaning mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0043] Figure 6a A schematic diagram of a brush plate carrier, a wool wheel cleaning mechanism, a cleaning agent supply mechanism, a water collection tank, a material unloading rotary module, and a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0044] Figure 6b for Figure 6a Schematic diagram of another perspective;

[0045] Figure 6c for Figure 6a Schematic diagram of another perspective;

[0046] Figure 6d for Figure 6a Schematic diagram of another perspective;

[0047] Figure 7a A schematic diagram of a cleaning agent supply mechanism of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0048] Figure 7b for Figure 7a Schematic diagram after removing the box cover;

[0049] Figure 8a A schematic diagram of a first-perspective view of a blanking and rotating module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (with the carrier plate flipped 90°);

[0050] Figure 8b A schematic diagram of a second viewing angle of a blanking rotary module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (the carrier plate is flipped 90°);

[0051] Figure 8c A partially enlarged schematic diagram of a blanking rotary module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (the carrier plate is not flipped);

[0052] Figure 9a A schematic diagram from a first perspective of a blanking robot module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0053] Figure 9b A schematic diagram from a second perspective of a blanking robot module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0054] Figure 9c A partially enlarged schematic diagram of a blanking robot module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0055] Figure 9d A partially enlarged schematic diagram of another perspective of a blanking robot module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0056] Figure 9e A schematic diagram of a carrier plate during the grabbing process of a blanking robot module of a fully automatic brush plate cleaning device provided by an embodiment of the present invention (only a portion of the carrier plate is grabbed);

[0057] Figure 9f for Figure 9e A partial enlarged schematic diagram;

[0058] Figure 10aA schematic diagram of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0059] Figure 10b A schematic diagram of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention with the outer shell removed;

[0060] Figure 10c A schematic diagram of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention with the shell and water tank removed;

[0061] Figure 10d A partial schematic diagram of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention with one material box removed;

[0062] Figure 10e A schematic diagram of the bottom of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0063] Figure 10f A schematic diagram of an air inlet connector and a sealing structure of a material storage water tank of a fully automatic brush plate cleaning device provided by an embodiment of the present invention;

[0064] Figure 11 A schematic diagram of an empty material box storage box for a fully automatic brush plate cleaning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0066] See also Figure 1, an embodiment of the present invention provides a fully automatic brush plate cleaning device, including a loading mechanism, a brush plate carrier, a cleaning device, a unloading mechanism and a material storage water tank. The loading mechanism is used to deliver the carrier plate with the product attached to the brush plate carrier; the brush plate carrier is used to clamp the carrier plate and carry the carrier plate through the cleaning device, which processes the carrier plate and delivers the carrier plate to the unloading mechanism after the processing is completed; the unloading mechanism is used to take the carrier plate processed by the cleaning device out of the brush plate carrier and place it into the material storage water tank; the material storage water tank is used to temporarily soak and store the carrier plate. In this embodiment, by arranging the cleaning device and the material storage water tank on an automated production line, the loss of personnel and the untimely placement of materials in the storage water tank are reduced. In addition, the defect caused by the need for manual loading and unloading of materials in semi-automatic cleaning equipment is solved. At the same time, automated production not only greatly improves production efficiency compared to traditional semi-automatic production, but also has higher stability and reliability. Specifically, the carrier to be cleaned has products attached to it, and the loading mechanism can transport the carriers one by one to the brush plate carrier. The brush plate carrier will close up and down to clamp the carriers, and carry the carriers in the flow direction of the automated production line. During transportation, they will be cleaned by a cleaning device, and after the cleaning process of the cleaning device, they will be sent to the unloading area. In the unloading area, the brush plate carrier opens up and down, and the carriers are taken out from the brush plate carrier by the unloading mechanism, and then sent to the material storage tank for temporary storage. Preferably, the brush plate carrier can drive the carrier to swing, and the swing direction can be perpendicular to the direction of transportation of the brush plate carrier. For example, if the direction of transportation of the brush plate carrier is the X-axis direction, then the swing direction can be the Y-axis direction. In this way, when the carrier passes through the cleaning device, it can be cleaned in all directions, which can further improve the cleaning effect.

[0067] Example 1:

[0068] See also Figure 2a 、 Figure 2b as well as Figure 2c, an embodiment of the present invention provides an automatic feeding module, comprising a box body 101 for accommodating a material box 100 and a driving member for moving the position of the material box 100 in the box body 101, wherein the box body 101 is provided with a material taking position 102 and a plurality of placement positions 103 for placing the material box 100, the material taking position 102 and each of the placement positions 103 are arranged in sequence, and the material taking position 102 is arranged adjacent to one of the placement positions 103; the direction from the placement position 103 to the material taking position 102 is consistent with the driving direction of the driving member, and the driving member is used to move the material box 100 from one of the placement positions 103 to the material taking position 102. In this embodiment, by arranging the material taking position 102 and the plurality of placement positions 103 in sequence, and by cooperating with the driving member, a feeding mechanism can be realized in which one material box 100 is replenished when one material box 100 is taken away, which greatly improves the working efficiency and lays the foundation for the fully automated operation of the whole machine. The box 101 is used to store the material box 100. The box 101 is filled with clean water or other solvents to keep the carrier plate in the material box 100 initially clean. For example, some floating and easily soluble dirt can be removed. At this time, it has not been cleaned by the cleaning device, but has only been preliminarily cleaned. There are multiple placement positions 103 in the box 101, such as the five placement positions 103 shown in the figure of this embodiment, which can hold five material boxes 100 at the same time. Each material box 100 can hold many carrier plates. Therefore, there are many carrier plates available for transfer to the next process, and the automated operation can be carried out for a long time (that is, the time for the automated cleaning operation of the products on the carrier plate can be very long). After the device is started, the loading mechanism will remove the prepared material box 100 from the material extraction position 102. At this time, the material extraction position 102 is empty. At this time, the driving member will move the material box 100 on the other placement positions 103 to the material extraction position 102 so that the loading mechanism can remove the material box 100 again. This automatic refill module can provide the initial auxiliary preparation for fully automated cleaning, is the basis for the non-stop operation of the equipment, and can greatly improve efficiency. Preferably, the driving member is to send the material box 100 in the placement position 103 adjacent to the material taking position 102 to the material taking position 102, which can save time and can be achieved through a simple translation movement. Of course, it is also feasible to place the material box 100 in other placement positions 103 on the material taking position 102, and a manipulator that can move in the Z-axis direction can be used to achieve precise grasping.

[0069] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2cThe driving member includes a clamping assembly 104 for clamping the material box 100 and a moving assembly 105 for driving the material box 100 to move. In this embodiment, the clamping assembly 104 can be used to clamp the material box 100, and then the moving assembly 105 can be used to drive the material box 100 to move, so as to deliver the clamped material box 100 to the material extraction position 102.

[0070] To further optimize the above solution, please refer to Figure 2a 、 Figure 2b as well as Figure 2c There are two clamping assemblies 104, which are respectively provided at the two ends of the box body 101. The direction between the two clamping assemblies 104 is consistent with the driving direction of the driving member. In this embodiment, two sets of clamping assemblies 104 can be used to clamp multiple material boxes 100. When clamping and moving the material boxes 100, you can clamp one material box 100, or you can clamp all the material boxes 100 and then move the entire assembly to the position of the placement position 103. In this way, the second method will make it more efficient. When clamping the entire assembly, in order to avoid the situation where there are too many material boxes 100 and they cannot be clamped or deformed, etc., the clamping assemblies 104 can be provided at both ends.

[0071] To further optimize the above solution, please refer to Figure 2a 、 Figure 2b as well as Figure 2c The clamping assembly 104 includes a pneumatic cylinder and two opposing clamping arms, with a clamping zone between the two clamping arms for clamping the cartridge 100. In this embodiment, a pneumatic cylinder can be used to push the clamping arms toward or away from each other to clamp or release the cartridge 100. The clamping arms can be linked in multiple ways as needed. For example, in this embodiment, a first clamping arm 106 and a second clamping arm 107 are designed. The first clamping arm 106 drives the second clamping arm 107 to move. The first clamping arm 106 is slightly higher than the second clamping arm 107, facilitating cylinder actuation.

[0072] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2c The moving assembly 105 includes a servo motor, which can be driven by a motor, a drive wheel, or a belt to provide driving force, and then a screw drive or other transmission method is used to move the material box 100. Of course, in addition to this, an electric push rod, a cylinder, etc. can also be used to achieve the drive, and this embodiment does not limit this.

[0073] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2cA magazine rack 108 is provided within the housing 101. The placement position 103 is located on the magazine rack 108, and the material removal position 102 is located on one side of the magazine rack 108. In this embodiment, the magazine rack 108 can be used to place the magazines 100. By designing the dimensions of the magazine rack 108, the aforementioned material removal position 102 can be reserved within the housing 101. Furthermore, the purpose of providing the magazine rack 108 is to facilitate the aforementioned clamping mechanism to clamp the magazine rack 108 as a whole, allowing for smoother movement of multiple magazines 100. Clamping the magazine rack 108 also prevents damage to the magazines 100 compared to directly clamping the magazines 100. The magazine rack 108 is located within the housing 101 and has a certain length, so the use of two clamping mechanisms ensures that the magazine rack 108 is clamped in place. The aforementioned second clamping arm 107 can clamp the magazine rack 108.

[0074] To further optimize the above solution, please refer to Figure 2a 、 Figure 2b as well as Figure 2c The magazine rack 108 includes side racks 109 and a bottom rack 110. The side racks 109 and the bottom rack 110 together form a frame-like structure, and the placement position 103 is located on the bottom rack 110. In this embodiment, the top of the box body 101 is open, and the magazine rack 108 is also made open to facilitate the placement of the magazine 100. Preferably, there are multiple side racks 109, and the bottom rack 110 and two oppositely arranged side racks 109 form a placement position 103. In this way, the number of side racks 109 can be selected according to the number of magazines 100. During clamping, the two oppositely arranged clamping arms move together and squeeze the two oppositely arranged side racks 109. The two side racks 109 can then cooperate to clamp the magazine 100 therein. At this time, the moving assembly 105 drives the clamping arms to move, thereby driving the side racks 109 to move. The bottom rack 110 does not need to be moved.

[0075] To further optimize the above solution, please refer to Figure 2a 、 Figure 2b as well as Figure 2c The side frame 109 includes a vertical plate 111 and baffles 112 located on two vertical side edges of the vertical plate 111. The two baffles 112 flare outward from the vertical plate 111 to form an expanded opening. In this embodiment, the expanded structure facilitates the placement of the magazine 100 into the placement position 103. The two baffles 112 provide a certain degree of guidance during placement. A design in which the baffles 112 are perpendicular to the vertical plates 111 or have a narrow opening makes it easier for the magazine 100 to be placed into the magazine rack 108.

[0076] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2cA notch 113 is provided on the side of the material removal position 102 away from the placement position 103. This notch 113 is located in the housing 101. In this embodiment, the notch 113 facilitates the loading mechanism's insertion into the housing 101 to retrieve the material box 100. The material box 100 is generally cubical and has a certain thickness, making it easier for the loading mechanism to reach into the housing 101 and retrieve the material box 100. The material box 100 has several grooves within it, and both ends of the material box 100 are open, facilitating the insertion of a carrier plate into the grooves through the openings.

[0077] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2c , further comprising a circulation structure for circulating water within the housing 101. Preferably, the circulation structure comprises a water trough 114 provided on the side of the housing 101. The water trough 114 serves as a baffle 112 on the side of the housing 101, and the trough wall of the water trough 114 on the side closer to the housing 101 is lower than the opposite trough wall. In this embodiment, water in the housing 101 can flow into the water trough 114 from the lower trough wall. After entering the water trough 114, the water is discharged from the drainage hole at the bottom of the water trough 114, while the water tank is continuously replenished with water. This ensures that the water in the water tank is always flowing and circulating.

[0078] As an optimization solution of the embodiment of the present invention, please refer to Figure 2a 、 Figure 2b as well as Figure 2c , the box body 101 is provided with a sensor 115 for sensing the material box 100. In this embodiment, the sensor 115 can sense whether the material box 100 in the box body 101 has reached the material taking position 102, thereby preventing the material box 100 from running empty.

[0079] Example 2:

[0080] See also Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e, an embodiment of the present invention provides a loading mechanism, including a material box picking device 200 and a feeding pushing device 201 for pushing the carrier plate grabbed by the material box picking device 200 to the brush plate carrier. The material box picking device 200 includes a manipulator for grabbing the material box and a driving member for moving the manipulator in the X-axis direction and the Z-axis direction. The pushing direction of the feeding pushing device 201 is the Y-axis direction. In this embodiment, it has movement in both the X-axis and Z-axis directions, so that the material box can be accurately and quickly taken out from the automatic feeding module 211, and then the feeding pushing device 201 is used to push the carrier plate in the material box to the brush plate carrier. The cooperation of the two can improve the efficiency of the fully automatic brush plate cleaning operation. Specifically, the robot is fed into the automatic feeding module 211 via the Z axis. Under the driving action in the X axis direction, the robot approaches the material box, starts to move and grabs the material box, then retracts along the X axis, and then returns to its original position along the Z axis, completing the action of taking the material box out of the box body of the automatic feeding module 211. Next, the feeding and pushing device 201 pushes the carrier plate in the material box out of the material box onto the brush plate carrier, thus completing the loading action. The driving member can adopt a cylinder or other existing driving method, which is not limited here. Preferably, the empty material box is placed in the empty material box storage box 210.

[0081] To further optimize the above solution, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e The manipulator includes an upper clamping plate 202, a lower clamping plate 203, and a cylinder that drives the upper and lower clamping plates 202 and 203 to open and close. The space between the upper and lower clamping plates 202 and 203 is used to clamp the material box. In this embodiment, the cylinder drives the upper and lower clamping plates 202 and 203 to open and close, clamping the upper and lower surfaces of the material box in the automatic feeding module 211. Combined with the notch in the box in the first embodiment, this allows the manipulator to easily enter the box to retrieve materials, leaving ample space for movement.

[0082] To further optimize the above solution, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e A spring guide column 204 is installed on the upper clamping plate 202 or the lower clamping plate 203. In this embodiment, the spring guide column 204 can buffer the driving force of the cylinder, thereby controlling the clamping force, on the one hand ensuring that the material box is clamped tightly, and on the other hand avoiding a sudden increase in the clamping force and damaging the material box.

[0083] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e Both the upper clamping plate 202 and the lower clamping plate 203 are provided with a stopper 205 capable of holding the cartridge. The stopper 205 expands outward from the clamping zone to form a flared structure. In this embodiment, the stopper 205 ensures that the cartridge does not fall out of the clamping zone after being clamped. In addition, the flared structure facilitates the clamping of the cartridge, providing a relatively high degree of freedom.

[0084] To further optimize the above solution, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e The manipulator further includes a pad 206 for supporting the magazine against the stopper 205. In this embodiment, the pad 206 can ensure that the magazine is clamped. The pad 206 can provide a certain force in the horizontal direction, and cooperate with the vertical force of the upper clamping plate 202 and the lower clamping plate 203 to form a stable clamping force.

[0085] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e The feeding and pushing device 201 includes a push rod 207 and a pushing member for driving the push rod 207 to move along the Y-axis direction. The push rod 207 is in the shape of an elongated strip, and the length of the push rod 207 is not less than the length of the carrier. In this embodiment, the feeding and pushing device 201 pushes the carrier from the magazine through the push rod 207. The push rod 207 is in the shape of an elongated strip, specifically a sheet, and its thickness can be designed to be similar to that of the carrier. In this way, when it moves in the Y-axis direction, the carrier to be pushed out of the magazine will not interfere with other carriers. The structure of the magazine is described in Example 1. It has many grooves inside, and the carriers can be placed in the grooves. In this way, the push rod 207 only needs to be able to enter the grooves to push the carrier out of the grooves. Preferably, the feeding and pushing device 201 is mounted on one side of the magazine picking device 200 through a bracket. The bracket has a certain height to match the position of the magazine picking device 200 moving into place on the Z-axis.

[0086] To further optimize the above solution, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3eThe pushing member includes an upper guide wheel 208, a lower guide wheel 209, and a servo motor for driving the upper guide wheel 208 and the lower guide wheel 209 to rotate. The upper guide wheel 208 and the lower guide wheel 209 are arranged opposite each other, and the pusher rod 207 passes between the upper guide wheel 208 and the lower guide wheel 209. In this embodiment, the guide wheels are driven by a motor to rotate to push the pusher rod 207 out. Compared with the conventional linear drive method to directly push the pusher rod 207, the pusher rod 207 can be guided out by rotation to prevent the pusher rod 207 from extending too much and affecting the accuracy.

[0087] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a 、 Figure 3b 、 Figure 3c 、 Figure 3d and Figure 3e The feeding and pushing device 201 further includes a buffer structure for limiting excessive pushing of the pusher rod 207. Preferably, the buffer structure includes a buffer spring disposed at the tail end of the pusher rod 207. In this embodiment, the buffer spring is designed to utilize the spring's resilience to retract the pusher rod 207 a certain distance after it has been pushed to its limit, thereby preventing excessive pushing force from causing deformation of the carrier plate on which the product is attached.

[0088] Example 3:

[0089] See also Figure 4a , is a partial structural diagram of the brush plate carrier 314, which omits the guide rail parallel to the Y-axis linear module 301. The guide rail is used to prevent one side from collapsing due to excessive weight.

[0090] See also Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g An embodiment of the present invention provides a carrier support platform 300, comprising an upper loading platform 302 and a lower loading platform 303 that can be opened and closed. A clamping zone for clamping the carrier is formed between the upper loading platform 302 and the lower loading platform 303. The upper loading platform 302 has a hollow portion for exposing the product on the carrier, and the lower loading platform 303 has a protrusion 305 for lifting the product on the carrier. In this embodiment, a feeding and pushing device pushes the carrier from the material box into the clamping zone, and then the upper loading platform 302 and the lower loading platform 303 cooperate to clamp the carrier tightly. Because the product on the carrier is being cleaned, the protrusion 305 is used to slightly lift the product on the carrier, making it easier for the brush wheel cleaning mechanism 318 above the brush plate loading platform 314 to brush the product.

[0091] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The hollowed-out portion of the upper carrier 302 is provided with a cover plate 306 having a plurality of windows through which the product on the carrier is exposed. In this embodiment, to prevent the brush wheel from wasting work elsewhere, the cover plate 306 can be designed with a shape having multiple windows to match the position of the product on the carrier.

[0092] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g , further comprising a push rod 307 for lifting the upper loading platform 302 and a cylinder for driving the push rod 307 to extend and retract. The push rod 307 passes through the unloading platform 303 and extends to the upper loading platform 302. The cylinder is located below the unloading platform 303. In this embodiment, the movement of the upper loading platform 302 is driven by the push rod 307 and the cylinder. Before the carrier enters the clamping area, the push rod 307 is lifted, opening the clamping area between the upper loading platform 302 and the unloading platform 303 to facilitate the entry of the carrier. When clamping is required, the push rod 307 is retracted, pressing the upper loading platform 302 against the unloading platform 303, thereby completing the clamping of the carrier. At this point, the carrier support platform 300 can stably carry the carrier into the subsequent process.

[0093] To further optimize the above solution, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g There are multiple push rods 307, and adjacent push rods 307 are connected by connecting arms, and the cylinder drives the connecting arms to move. In this embodiment, the use of connecting arms can reduce the number of cylinders, saving space and cost.

[0094] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4gThe unloading platform 303 is provided with a leveling structure for adjusting the tightness of the upper loading platform 302. In this embodiment, to prevent the upper loading platform 302 from being too tight, the leveling structure can be used to adjust the vertical position of the upper loading platform 302. The leveling structure can also adjust the posture of the upper loading platform 302 to ensure that it is horizontal.

[0095] To further optimize the above solution, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The leveling structure includes a plurality of leveling rods 308 extending through the unloading platform 303. Each leveling rod 308 is threadedly connected to the unloading platform 303. In this embodiment, the leveling method can be to use a threaded connection to drive the leveling rods 308 to extend beyond the unloading platform 303, thereby supporting the upper loading platform 302 to adjust the position of the upper loading platform 302.

[0096] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The unloading platform 303 is provided with a guide structure. Preferably, the guide structure includes a guide rod 309 and a sleeve 310. The sleeve 310 is provided on the unloading platform 303, and the guide rod 309 vertically passes through the unloading platform 303. The designed guide structure can ensure that the above-mentioned push rod 307 is lifted vertically.

[0097] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g , a drainage ditch 311 is provided on the unloading platform 303. Preferably, both sides of the unloading platform 303 also have drainage ditches 311. In this embodiment, the design of the drainage ditch 311 can quickly drain away the sewage during cleaning.

[0098] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4gThe edge of the upper loading platform 302 facing the unloading platform 303 is provided with a clamping plate 312, and the unloading platform 303 has a slot for the clamping plate 312 to be inserted. In this embodiment, the structure of the clamping plate 312 and the clamping slot at the edge can play a role in blocking water. The clamping slot can be the drainage ditch 311 mentioned above, killing two birds with one stone. Preferably, the feeding end of the clamping plate 312 is tilted toward the inside of the upper loading platform 302, which can play a guiding role. Even if the loading plate is in a bad posture when entering, it can be guided by the inclined surface 3120.

[0099] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The tail end of the loading plate is provided with an extreme limiting structure 313. In this embodiment, the extreme limiting structure 313 is provided to ensure that the loading plate is inserted into the clamping interval and to block the loading plate to prevent the loading plate from being pushed out of the clamping interval.

[0100] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The inlet end of the unloading platform 303 has an inclined surface that slopes upward from the inlet end to the outlet end of the unloading platform 303. This inclined surface 3030 prevents damage to the carrier plate because it acts as a guide and buffer. Preferably, the outlet end of the unloading platform 303 also has an inclined surface 3031 that serves the same purpose.

[0101] See also Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4gAn embodiment of the present invention provides a brush plate carrier 314, comprising the aforementioned carrier plate carrying platform 300 and a drive assembly for driving the carrier plate carrying platform 300 to move. The carrier plate carrying platform 300 comprises an upper carrier 302 and a lower carrier 303 that can be opened and closed. A clamping interval for clamping the carrier plate is provided between the upper carrier 302 and the lower carrier 303. The upper carrier 302 has a hollow position for exposing the product on the carrier plate, and the lower carrier 303 has a protrusion 305 for lifting the product on the carrier plate. In this embodiment, a drive assembly is used to move the carrier plate carrying platform 300 to reach the working range of the wool wheel cleaning mechanism 318. After passing through the wool wheel cleaning mechanism 318, the carrier plate carrying platform 300 is moved forward to the unloading rotary module 319. The drive assembly here is the aforementioned Y-axis linear module 301. The Y-axis linear module 301 of the brush plate carrier 314 is very long, extending from loading to unloading, specifically from the feeding and pushing device to the unloading rotating module 319, and passing through a wool wheel cleaning mechanism 318 in the middle. It is the longest displacement in the entire equipment.

[0102] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g , the carrier plate bearing platform 300 is installed on the water retaining structure. In this embodiment, the carrier plate bearing platform 300 is installed on the water retaining structure, which can keep out the sewage, cleaning agent, etc. during cleaning and avoid damaging some driving components.

[0103] To further optimize the above solution, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The water retaining structure includes a water retaining plate 315 provided below the plate carrying platform 300, and the water retaining plate 315 is provided in the driving direction of the plate carrying platform 300. In this embodiment, the water retaining plates 315 are provided before and after the plate carrying platform 300 to retain the sewage and cleaning agent.

[0104] To further optimize the above solution, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4gThe water retaining structure also includes retractable bellows 316, which are located on either side of the carrier platform 300. In this embodiment, the "two sides" here refer to positions parallel to the driving direction of the carrier platform 300. When combined with the front and rear water retaining plates 315 above, these bellows 316 block the left and right sewage and cleaning agents, preventing damage to the Y-axis linear module 301 and the guide rail on the side opposite the Y-axis linear module 301. The bellows 316 are retractable and can fully block sewage and cleaning agents.

[0105] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g , and also includes a swing mechanism 317 for driving the carrier plate bearing platform 300 to swing in the X-axis direction. In this embodiment, the above-mentioned Y-axis linear module 301 moves in the Y-axis direction with the carrier plate bearing platform 300, so that the hair wheel that cooperates with the rotation of the hair wheel cleaning mechanism 318 can clean the products on the carrier plate. However, this cleaning is not the cleanest state. By setting the swing mechanism 317, the carrier plate bearing platform 300 can be moved in the X-axis direction, which can form cleaning in both the X-axis and Y-axis directions, which is similar to the concept of "scrubbing", which can further improve the cleanliness of cleaning. The swing frequency can be controlled by setting the output frequency of the swing mechanism 317. A higher frequency of swing can achieve a better "scrubbing" effect.

[0106] To further optimize the above solution, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f as well as Figure 4g The swing mechanism 317 includes an eccentric wheel and a motor. The eccentric wheel is connected to the output shaft of the motor and provides a repetitive vibration force to the carrier platform 300. In this embodiment, the swing mechanism can be achieved by combining the eccentric wheel and the motor to achieve vibration, that is, a back-and-forth swing effect. The eccentric wheel then outputs this swinging force to the unloading platform 303 of the carrier platform 300, which then swings the entire carrier platform 300. Of course, other existing swing mechanisms are feasible and are not limited in this embodiment.

[0107] See also Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f 、 Figure 4g 6a, an embodiment of the present invention provides a fully automatic brush plate cleaning device, including a brush wheel cleaning mechanism 318 and the aforementioned brush plate carrier 314. The brush plate carrier 314 is located below the brush wheel cleaning mechanism 318, and the brush wheel cleaning mechanism 318 brushes the product on the carrier plate on the brush plate carrier 314. In this embodiment, the positional relationship between the brush plate carrier 314 and the brush wheel cleaning mechanism 318 is reflected. Due to the function of the protrusion 305, the product can be lifted slightly, making it easier for the brush wheel of the brush wheel cleaning mechanism 318 to act on the product.

[0108] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f 、 Figure 4g 6a also includes a water collection trough located below the brush plate carrier 314. The trough is used to collect wastewater and cleaning agents left behind after the brush wheel cleaning mechanism 318 cleans the products on the carrier. In this embodiment, the positional relationship between the brush plate carrier 314 and the water collection trough is demonstrated. Thus, the brush wheel cleaning mechanism 318, the brush plate carrier 314, and the water collection trough are sequentially arranged along the height space.

[0109] As an optimization solution of the embodiment of the present invention, please refer to Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f 、 Figure 4g And 6a, also includes a blanking rotary module 319, which is located at the discharge end of the brush plate carrier 314. In this embodiment, when the carrier is transported to the blanking rotary module 319 by the brush plate carrier 314, it reaches the end point. After the blanking rotary module 319 takes the carrier away, the brush plate carrier 314 will return to the starting point with the empty carrier carrier platform 300 and pick up another carrier to be cleaned. Of course, a circular path can also be designed, that is, multiple carrier carrier platforms 300 are set on the brush plate carrier 314, and multiple carrier carrier platforms 300 continuously circulate loads on a circular route, which can save waiting time and further improve work efficiency. The circular path can circulate in the horizontal direction or use the height space for circulation, both of which are feasible.

[0110] As an optimization solution of the embodiment of the present invention, please refer to Figure 3c 、 Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 4e 、 Figure 4f 、 Figure 4g And 6a, also includes a feeding and pushing device, which pushes the carrier plate in the material box onto the carrier plate carrying platform 300 of the brush plate carrier 314. In this embodiment, on the loading side, the feeding and pushing device pushes the carrier plate in the material box onto the carrier plate carrying platform 300, and then is taken away by the Y-axis linear module 301.

[0111] Example 4:

[0112] See also Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d An embodiment of the present invention provides a cleaning device including a hair roller cleaning mechanism 400. The hair roller cleaning mechanism 400 includes a cleaning box 401. A plurality of hair rollers 402 are sequentially arranged in the cleaning box 401 along the transport direction of the carrier plate. A spray assembly 410 for spraying cleaning agent is provided in the cleaning box 401. Below each of the hair rollers is a scrubbing area. In this embodiment, the carrier plate is cleaned by rotating the hair rollers. As the carrier plate passes through the cleaning area where the cleaning box 401 is located, the hair rollers rotate to scrub the carrier plate below them. At the same time, the cleaning agent is sprayed into the cleaning box 401 by the spray assembly 410, thereby achieving a better cleaning effect. Of course, in addition to using hair rollers for scrubbing, other existing cleaning methods are also feasible, and this embodiment does not limit this. As for the number of hair rollers, it can be set according to actual needs, and adjacent hair rollers are arranged at intervals.

[0113] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , the cleaning box 401 has a hollow position 403 above, and each of the wool wheels is loaded into the cleaning box 401 from the hollow position 403. In this embodiment, the cleaning box 401 has an open design above, which can facilitate the loading of the wool wheels. Preferably, a cover plate 404 is installed on the cleaning box 401, and the cover plate 404 closes the hollow position 403. Preferably, the cleaning box 401 is erected by a gantry 405. The cover plate 404 can shield the wool wheels when they are working to avoid safety hazards. The cover plate 404 is hinged to the cleaning box 401. The stability of the cleaning box 401 and the wool wheels therein can be improved by the gantry 405.

[0114] To further optimize the above solution, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5dA weight-reducing structure 406 is installed between the gantry 405 and the cleaning box 401. In this embodiment, the weight of the cleaning box 401 can be reduced by installing the weight-reducing structure 406, thereby reducing the load on the Z axis. The weight-reducing structure 406 can be a pulling structure with a tensile force, such as a spring or a cylinder, one end of which is installed on the gantry 405 and the other end is installed on the cleaning box 401. Alternatively, according to the design size requirements, a connecting component can be provided on the cleaning box 401, and then one end can be installed on the gantry 405 and the other end can be connected to the connecting component. The connecting component in this embodiment is a vertical plate.

[0115] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , further comprising an adjustment assembly 407 for adjusting the horizontal position of the cleaning box 401. In this embodiment, the horizontal position, or height, of the cleaning box 401 is adjustable. This allows for adjustment to a suitable position before use to clean the carrier plates brought from the brush plate carrier. Furthermore, if the brush wheel is damaged during use, fine-tuning the position of the cleaning box 401 ensures that the brush wheel can always reach the carrier plates. Adjustment assembly 407 can utilize a lifting mechanism such as a cylinder.

[0116] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , the wool wheel is mounted on the cleaning box 401 through a semi-open coupling 408. In this embodiment, the semi-open coupling 408 is used to facilitate the replacement of the wool wheel.

[0117] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d Each of the bristle wheels is equipped with an independent driver. In this embodiment, each bristle wheel 402 works independently, so we can control its rotation speed, rotation direction, etc. independently, thus ensuring the cleaning effect. The driver can be a servo motor.

[0118] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d, further comprising a wool wheel cleaning assembly 409 for cleaning the wool wheel. In this embodiment, the wool wheel inevitably becomes contaminated during operation, so the wool wheel cleaning assembly 409 is designed to clean the wool wheel. Preferably, the wool wheel cleaning assembly 409 includes a nozzle positioned adjacent to the wool wheel, which can spray clean water, a cleaning agent, etc. onto the wool wheel, thereby cleaning the wool wheel while it rotates. The sprayed clean water, cleaning agent, etc. can also serve as a solvent for cleaning the carrier plate. Of course, the wool wheel can also be removed for cleaning, which is not limited in this embodiment.

[0119] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , the spray assembly 410 is provided at the entrance of the cleaning box 401. In this embodiment, the spray assembly 410 is provided at the entrance of the cleaning box 401. When the carrier enters the cleaning box 401, as the brush plate carrier moves, the cleaning agent can cover the entire carrier, ensuring that every part can be better cleaned.

[0120] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d The spray assembly 410 includes a pressurized nozzle. In this embodiment, after the cleaning agent enters the nozzle, the nozzle is pressurized and can spray the cleaning agent in a mist form, so that the cleaning agent is evenly and more comprehensively covered on the carrier, saving the amount of cleaning agent while improving the cleaning effect.

[0121] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , and also includes a water jet removal component 411 for removing the cleaning agent and an air knife removal component 412 for removing excess water. In this embodiment, after all parts of the carrier board have been cleaned by the wool wheel, a water jet removal component 411 can be installed at the rear of the cleaning box 401 to remove the cleaning agent, and the air knife removal component 412 can be used to remove excess water on the carrier board. Preferably, both the water jet removal component 411 and the air knife removal component 412 use pressurized nozzles, one for spraying water and the other for spraying air. Preferably, a long strip of pipe is used, and multiple nozzles are installed along the length of the pipe to achieve better results.

[0122] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d, also includes a grating ruler for positioning the cleaning box 401 on the Z axis. In this embodiment, the grating ruler can be accurately positioned at a position convenient for the cleaning box 401 to ensure the cleaning of the carrier plate below it.

[0123] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , altimeters are provided on both ends of the cleaning box 401. In this embodiment, the altimeter designed can be used to accurately monitor the horizontal condition of the wool wheel cleaning mechanism 400.

[0124] As an optimization solution of the embodiment of the present invention, please refer to Figure 5a 、 Figure 5b 、 Figure 5c and Figure 5d , the cleaning box 401 is a transparent box body. In this embodiment, the cleaning box 401 is designed to be transparent, specifically its side panels are made of transparent material, which can facilitate the staff to observe the cleaning situation and make timely corrections if any abnormality occurs.

[0125] Embodiment 5:

[0126] See also Figure 6a 、 Figure 6b 、 Figure 6c and Figure 6d An embodiment of the present invention provides a water collection tank, including a base plate 500 that can be arranged below the wool wheel cleaning mechanism, the base plate 500 having a drain port for discharging cleaning waste water, a water collection box (not shown) that can cover the drain port is installed on the base plate 500, and the water collection box is detachably mounted on the base plate 500, and the water collection box has a drainage hole. In this embodiment, a water-blocking base plate 500 is provided below the wool wheel cleaning mechanism. When the wool wheel cleaning mechanism is working, waste water will fall downward and will all be caught by the base plate 500, and then flow into the water collection box through the drain port on the base plate 500 and converge, and then be discharged through the water collection box. There are two ways to drain the water collection box, one is to drain the water through the drainage hole provided thereon, and the other is to drain the water after removing the water collection box, both of which are feasible solutions.

[0127] As an optimization solution of the embodiment of the present invention, please refer to Figure 6a 、 Figure 6b 、 Figure 6c and Figure 6d The base plate 500 is provided with a slide rail 502, and the water collecting box is pulled out and arranged on the base plate 500 through the slide rail 502. In this embodiment, the water collecting box can be installed on the base plate 500 in a drawer-like manner, and can be removed from the base plate 500 by pulling it out.

[0128] As an optimization solution of the embodiment of the present invention, please refer to Figure 6a 、 Figure 6b 、 Figure 6c and Figure 6d , a filtering structure is provided in the water collecting tank. In this embodiment, a filtering structure can be provided in the water collecting tank to filter the sewage, and then discharge it through the drain hole. On the one hand, it avoids the blockage of the drainage pipe connected to the drain hole after the drain hole is blocked. On the other hand, with the detachable water collecting tank, the filtered dirt can be easily removed to avoid polluting the environment. Preferably, the filtering structure can adopt a filter net, such as providing multiple layers of filter nets along the height direction of the water collecting tank to achieve layer-by-layer filtration. Other existing filtering methods, such as adsorption filtration, are also feasible, and this embodiment does not limit this.

[0129] See also Figure 6a 、 Figure 6b 、 Figure 6c and Figure 6d An embodiment of the present invention further provides a cleaning device comprising a hair roller cleaning mechanism and the aforementioned water collection tank. The water collection tank is located below the hair roller cleaning mechanism, and a cleaning area for carriers to pass through is formed between the water collection tank and the hair roller cleaning mechanism. In this embodiment, when a carrier is carried by a brush carrier through the hair roller cleaning mechanism, the hair roller cleaning mechanism cleans the product (chip, or camera module) on the carrier, and the wastewater from the cleaning naturally falls into the water collection tank and is collected, preventing it from contaminating the factory.

[0130] As an optimization solution of the embodiment of the present invention, please refer to Figure 6a 、 Figure 6b 、 Figure 6c and Figure 6d The drain port serves as an inspection port 501. In this embodiment, the aforementioned wheel cleaning mechanism and the brush carrier are both very large devices. Once the wheel cleaning mechanism fails or it is time for maintenance, both the wheel cleaning mechanism and the brush carrier need to be dismantled, which will bring a very large workload. Therefore, the drain port can be used as an inspection port 501. It only needs to be designed to be slightly larger for easy maintenance. The larger size also makes it easier for sewage to fall into the water collection tank. In this way, the function of this water collection tank is not only to collect sewage, but also to perform maintenance.

[0131] Example 6:

[0132] See also Figure 7a and Figure 7bAn embodiment of the present invention provides a cleaning agent supply mechanism, comprising a housing 600 for storing cleaning agent. The housing 600 delivers the cleaning agent to an external mechanism via a siphon pipe. A lid 601 covers the top opening of the housing 600. A counterweight 602 is mounted on the lid 601 to hold the siphon pipe down within the housing 600. The counterweight 602 has an opening 603 through which the pipe passes. In this embodiment, the housing 600 stores the cleaning agent, which is then delivered to the paddle wheel cleaning mechanism via a pipe. The pipe uses a siphon to supply the cleaning agent to the paddle wheel cleaning mechanism, minimizing cleaning agent usage. The pipe is lightweight, and the use of the counterweight 602 allows the pipe to extend into the housing 600 without floating, facilitating the formation of a siphon effect. The counterweight 602 has an opening 603 through which the pipe can enter the housing 600. The opening 603 secures the pipe to prevent free movement.

[0133] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b The counterweight 602 is threadedly connected to the box cover 601, and the direction in which the threads extend is consistent with the height direction of the box body 600. In this embodiment, the counterweight 602 can be adjusted in position by means of threads, thereby adjusting the position of the pipe. Normally, the pipe cannot touch the bottom, that is, it cannot contact the bottom of the box body 600, because the cleaning agent will crystallize at the bottom, and the pipe will easily be blocked by crystals when it touches the bottom, resulting in failure to operate normally. When in use, the pipe will first be mostly inserted into the box body 600, and then fine-tuned by the counterweight 602 so that the pipe does not touch the bottom of the box body 600 but can be at the bottom position to ensure the supply of cleaning agent.

[0134] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b , further comprising a heating component for heating the cleaning agent in the box 600. In this embodiment, the heating component is used to heat the cleaning agent in the box 600, which can improve the activity and improve the cleaning yield.

[0135] To further optimize the above solution, please refer to Figure 7a and Figure 7bThe heating assembly includes a control terminal 604 provided on the box cover 601 and a heating coil 605 provided in the box body 600, and the heating coil 605 is electrically connected to the control terminal 604. In this embodiment, the control terminal 604 can adjust the heating temperature and heating time of the heating coil 605. Preferably, the heating coil 605 is heated by a heating wire, for example, a resistor with adjustable resistance, and the heating value is adjusted by adjusting the resistance value by the control terminal 604. The control terminal 604 is mounted on the box cover 601, and the box cover 601 and the box body 600 are detachably connected. When the heating assembly needs to be removed, the box cover 601 can be directly removed.

[0136] To further optimize the above solution, please refer to Figure 7a and Figure 7b The heating coil 605 is disposed at the bottom of the box 600. In this embodiment, disposing the heating coil 605 at the bottom of the box 600 allows the temperature of the cleaning agent to be radiated from the bottom and continuously upward, ensuring that the cleaning agent in the entire box 600 is warm and also ensuring that the cleaning agent at the bottom sucked by the siphon pipe is hot.

[0137] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b , also comprises a filter assembly for filtering the cleaning agent. In the present embodiment, because the cleaning agent has some impurities and cannot be directly absorbed and used, the cleaning agent is filtered by the filter assembly to ensure that the cleaning agent sent to the brush cleaning mechanism is clean.

[0138] To further optimize the above solution, please refer to Figure 7a and Figure 7b The filtration assembly includes a filter hopper 606, which is mounted below the counterweight 602 and placed within the housing 600. The siphon conduit includes a first conduit and a second conduit. The first conduit is external to the housing 600 and communicates with the opening 603 of the housing cover 601. The second conduit is connected to the filter hopper 606 and is located outside the filter hopper 606. In this embodiment, the second conduit delivers cleaning agent to the filter hopper 606 for filtration. The cleaning agent filtered by the filter hopper 606 is then delivered to the bristle wheel cleaning mechanism via the first conduit. This allows the fine-tuning of the counterweight 602 to be fine-tuned along with the filter hopper 606, which in turn fine-tunes the second conduit. The filter hopper 606 is sealed internally, and even after the cleaning agent fills the filter hopper 606, the first conduit can still use the siphon effect to draw the cleaning agent away. In this solution, the filter hopper 606 and the counterweight block 602 can be considered as one body, and both can be used as counterweight components of the second pipeline, except that the counterweight component also has the function of filtering, thus killing two birds with one stone.

[0139] To further optimize the above solution, please refer to Figure 7a and Figure 7b The filter hopper 606 includes a filter screen at the bottom, and the second pipe is mounted on the filter screen. In this embodiment, the filter hopper 606 uses a filter screen. The filter screen can be made of steel plate to provide a certain strength to drive the second pipe. Then, a number of densely distributed small holes are formed in the steel plate to filter out impurities. In this way, the counterweight 602, filter hopper 606, and heating assembly are provided on the box cover 601. When all of them need to be removed, only the box cover 601 needs to be removed. This facilitates the subsequent cleaning of the box body 600. The box body 600 usually does not need to be cleaned. When the cleaning agent inside is almost used up, it can be added. If cleaning is required after a long period of time, the box cover 601 can be removed, and the components on the box cover 601 can be removed together, making it easier to clean the box body 600.

[0140] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b , functional holes 607 are reserved on the box cover 601. In this embodiment, some functional holes 607 can be reserved on the box cover 601 to facilitate the cleaning agent supply mechanism to have more functions, and when it needs to be removed, the box cover 601 can be removed.

[0141] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b , the box body 600 is a transparent box body 600. In this embodiment, the box body 600 is designed to be transparent, which can facilitate the staff to observe the amount of the cleaning agent in the box body 600 and facilitate immediate refilling.

[0142] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b A liquid level gauge is mounted on the tank cover 601 and extends into the tank body 600. In this embodiment, the liquid level gauge is not shown in the figure. It constantly monitors the detergent level within the tank body 600. When the level reaches a set level, it can be connected to an alarm to alert staff to replenish the liquid. This function eliminates the need for staff to constantly monitor changes in the liquid level within the tank body 600. The liquid level gauge is mounted through the aforementioned functional hole 607.

[0143] As an optimization solution of the embodiment of the present invention, please refer to Figure 7a and Figure 7b , a scale 608 is installed on the box body 600. In this embodiment, the scale 608 can give the staff an intuitive feeling and let them know what the current liquid level is, which is convenient for the staff to perform the liquid replenishment operation.

[0144] Embodiment seven:

[0145] See also Figure 8a 、 Figure 8b and Figure 8c An embodiment of the present invention provides a blanking rotary module, including a receiving component 700 for receiving a carrier plate 712, a circulation component 702 that carries the receiving component 700 through a circulation channel 701 and sends it to a flipping position 704, and a flipping component 703 for flipping the carrier plate 712 on the flipping position 704 to an external mechanism. In the initial state, the receiving component 700 and the flipping position 704 are respectively located at the two ends of the circulation channel 701. In this embodiment, after being cleaned by the brush cleaning mechanism, the carrier plate 712 continues to be transferred along with the brush plate carrier. After being delivered to the material unloading rotary module, the receiving assembly 700 receives the delivered carrier plate 712 and locks it. The flow assembly 702 then carries the entire receiving assembly 700 through the flow channel 701 to the flip position 704 at the end of the flow channel 701. At this time, the carrier plate 712 also follows the receiving assembly 700 to the flip position 704. The receiving assembly 700 then withdraws, leaving only the carrier plate 712 at the flip position 704. The flip assembly 703 then flips the carrier plate 712 on the flip position 704 to the external mechanism, completing the flipping action. The external mechanism here is the unloading robot module, which is used to remove the carrier plate 712 and place it into the material storage tank. This will be described in detail in the following embodiments. The unloading rotary module can change the movement direction of the carrier plate 712, making it easier for the external mechanism to remove the carrier plate 712 and making rational use of the height space. The flipping angle can be set according to actual conditions. For example, in this embodiment, the flip is 90°. The carrier 712 delivered by the brush plate carrier is horizontal, and the movement of the receiving component 700 is also horizontal. In this way, after flipping 90°, the carrier 712 is in a vertical state, which is convenient for the unloading robot module to grab the carrier 712.

[0146] As an optimization solution of the embodiment of the present invention, please refer to Figure 8a 、 Figure 8b and Figure 8c , further comprising a positioning assembly 705 for aligning and positioning the carrier plate 712. In this embodiment, the positioning assembly 705 is provided to ensure that the position of the carrier plate 712 delivered by the receiving assembly 700 is accurate, thereby ensuring the accuracy of the subsequent grasping and positioning of the unloading robot module.

[0147] To further optimize the above solution, please refer to Figure 8a 、 Figure 8b and Figure 8cThe positioning assembly 705 includes a pusher disposed on one side of the carrier plate 712, which pushes the carrier plate 712 to the side wall of the circulation channel 701. In this embodiment, after the carrier plate 712 reaches the flip position 704, the pusher pushes one side of the carrier plate 712, causing the carrier plate 712 to abut against the side wall of the circulation channel 701, thereby achieving its positioning.

[0148] As an optimization solution of the embodiment of the present invention, please refer to Figure 8a 、 Figure 8b and Figure 8c The receiving assembly 700 includes an upper clamping plate 706, a lower clamping plate 707, and a driving member that drives the upper clamping plate 706 and the lower clamping plate 707 to close together. There is a gap between the upper clamping plate 706 and the lower clamping plate 707 for the carrier plate 712 to pass through. In this embodiment, the receiving method of the receiving assembly 700 is to adopt a clamping nozzle. The upper clamping plate 706 and the lower clamping plate 707 form a clamping nozzle. The upper clamping plate 706 and the lower clamping plate 707 do not need to be too long. When the carrier plate 712 passes through most of the gap between the two, the driving member drives the two to clamp together to clamp the carrier plate 712. Of course, the size design can be selected according to actual conditions. Preferably, the driving member adopts a cylinder, and the cylinder pushes the lower clamping plate 707 to make it close to the upper clamping plate 706 to achieve clamping.

[0149] To further optimize the above solution, please refer to Figure 8a 、 Figure 8b and Figure 8c , a sliding plate 708 is installed on the driving member, and the sliding plate 708 is slidably set on the matching plate 709 of the circulation component 702, and the extension direction of the matching plate 709 is consistent with the length direction of the circulation channel 701. In this embodiment, the driving member also moves together so as to continuously press against the lower clamping plate 707 to achieve continuous clamping force. In order to ensure the smooth movement of the driving member, a sliding plate 708 can be configured for it to guide it. The matching plate 709 of the circulation component 702 is a plate body extending along the X-axis direction, and the extension direction of the plate body is also consistent with the transportation direction of the brush plate carrier.

[0150] As an optimization solution of the embodiment of the present invention, please refer to Figure 8a 、 Figure 8b and Figure 8cThe circulation assembly 702 includes several sets of guide wheels 710 disposed within the circulation channel 701 and a rotating member for driving the guide wheels 710 to rotate synchronously. Two adjacent sets of guide wheels 710 cooperate to support the gripping nozzle of the receiving assembly 700. In this embodiment, the gripping nozzle, namely the upper clamping plate 706 and the lower clamping plate 707, are moved forward and backward by these guide wheels 710, thereby preventing the carrier plate 712 with the material attached from deviating from the track. The sets of guide wheels 710 are spaced apart, with the spacing ensuring that two adjacent sets of guide wheels 710 can properly support the gripping nozzle.

[0151] To further optimize the above solution, please refer to Figure 8a 、 Figure 8b and Figure 8c The rotating member includes a pulley assembly and a motor for driving the pulley assembly. In this embodiment, a pulley assembly can be used to achieve synchronous rotation of each guide pulley 710, and the motor is used to provide power. The pulley assembly is prior art, and its specific structure will not be described in detail here.

[0152] As an optimization solution of the embodiment of the present invention, please refer to Figure 8a 、 Figure 8b and Figure 8c The flow channel 701 is formed by the space between two spaced, opposing vertical plates 711, with the receiving assembly 700 positioned within this space. In this embodiment, the two vertical plates 711 are relatively long, forming the entire flow channel 701. The aforementioned pulley assembly can also be mounted on these vertical plates 711. The vertical plates 711 have hollowed-out areas for the aforementioned sliding plate 708 to pass through.

[0153] Embodiment 8:

[0154] See also Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9fAn embodiment of the present invention also provides a blanking robot module, including a first driver 800 for driving in the X-axis direction, a second driver 801 for driving in the Y-axis direction, a third driver 802 for driving in the Z-axis direction, a fourth driver 803 for driving in the Z-axis direction, and a fifth driver 804 for driving in the Z-axis direction. The second driver 801 drives the first driver 800 to move, the first driver 800 drives the third driver 802 to move, the third driver 802 drives the fourth driver 803 to move, the fourth driver 803 drives the fifth driver 804 to move, and the fifth driver 804 is equipped with a robot for clamping a carrier plate 809. In this embodiment, three actuators are used in the Z-axis direction. The third actuator 802 enables the robot to quickly reach a position near the carrier 809, improving material retrieval accuracy. The fourth actuator 803 slowly and accurately brings the robot into contact with the carrier 809. The fifth actuator 804 then moves the robot in the Z-axis direction, ensuring that the robot can fully cover the carrier 809 and stably and reliably grasp the carrier 809. Compared with conventional robot grasping, this module grasps the carrier 809 more easily and accurately. Moreover, when placing the carrier 809 on the loading platform, that is, placing the carrier 809 into the material storage tank, the coordinated action of the three Z-axis directions ensures that the carrier 809 is inserted into the material storage tank. Even if the carrier 809 is deformed, the carrier 809 can still be slowly inserted into the material box. During grasping, the aforementioned flip assembly is required to flip the carrier 809 to a vertical position, making it easier for the robot to grasp the carrier 809.

[0155] As an optimization solution of the embodiment of the present invention, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9f The manipulator includes a platform 805 for placing a carrier plate 809 and a clamping claw assembly for clamping the carrier plate 809 on the platform 805. In this embodiment, the carrier plate 809 is grasped by pressing the carrier plate 809 on the platform 805 using the clamping claw assembly.

[0156] To further optimize the above solution, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9fThe clamping jaw assembly includes a plurality of first clamping jaws 806 for pressing the outer edge of the carrier plate 809 against the placing platform 805, and a first driving member for driving each of the first clamping jaws 806 to move toward or away from the placing platform 805. In this embodiment, the carrier plate 809 can be clamped by the first clamping jaws 806 gripping the outer edge of the carrier plate 809. Since there are multiple first clamping jaws 806, the carrier plate 809 can be clamped in all directions, ensuring that the carrier plate 809 is clamped and does not fall.

[0157] To further optimize the above solution, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9f The clamping jaw assembly further includes a second clamping jaw 807 for pressing the inner edge of the carrier plate 809 against the resting platform 805, and a second driving member for driving the second clamping jaw 807 toward or away from the resting platform 805. In this embodiment, the second clamping jaw 807 clamps at a different location than the first clamping jaw 806. The second clamping jaw 807 clamps the inner edge of the carrier plate 809, i.e., the inner side of the edge. This ensures a stable grip of the carrier plate 809 in cooperation with the first clamping jaw 806.

[0158] To further optimize the above solution, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9fThe second clamping jaw 807 is a circular clamping jaw, and the circular clamping jaw is also provided on the shelf 805. The two circular clamping jaws arranged opposite to each other cooperate to clamp the inner edge of the carrier plate 809. In this embodiment, circular grippers are used, and circular grippers are also provided on the shelf 805. When clamping, the two circular grippers pinch the carrier 809 like fingers, and can cooperate with the fifth driver 804 to slowly pick up all the carriers 809, just like eating food, one bite at a time. This is mainly used for feeding. After the carrier 809 is inserted into the groove of the material box, the first gripper 806 is completely released, and only the second gripper 807 continues to clamp the carrier 809. The fifth driver 804 drives the manipulator forward a certain distance, the second gripper 807 is released, and the fifth driver 804 drives the manipulator back a certain distance. The second gripper 807 re-grips the carrier 809, and the fifth driver 804 drives the manipulator forward a certain distance. The second gripper 807 is again released, and this reciprocating motion is repeated until the carrier 809 is fully inserted into the groove of the material box. In this way, the carrier 809 can be inserted into the groove of the material box without any deformation. As for how to determine whether the carrier 809 is fully inserted, a sensor may be used to sense the position of the carrier 809, or the fifth driver 804 may be controlled to move forward a certain number of centimeters to indicate that the carrier 809 is fully inserted.

[0159] As an optimization solution of the embodiment of the present invention, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9f The shelf 805 includes side walls 808 on both sides, and the two side walls 808 are expanded outward to be flared. In this embodiment, by being designed into a flared structure, damage to the carrier 809 can be avoided and the carrier 809 can be easily entered.

[0160] See also Figure 6a 、 Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e 、 Figure 9f and Figure 10a The present invention also provides a material unloading mechanism comprising a material storage water tank and the aforementioned unloading robot module. The unloading robot module places a carrier plate 809 into a material box within the material storage water tank. In this embodiment, the unloading robot module places the carrier plate 809 within the material storage water tank. For the detailed structure of the material storage water tank, please refer to Example 9.

[0161] To further optimize the above solution, see Figure 6a 、 Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e 、 Figure 9f and Figure 10a The unloading manipulator module has multiple magazines, and each magazine is arranged in sequence along the Y-axis direction. In this embodiment, the magazine is designed in the Y-axis direction, which makes it easier for the second driver 801 to bring the manipulator to the top of each magazine for unloading.

[0162] See also Figure 6a 、 Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e 、 Figure 9f and Figure 10a The present invention also provides a fully automatic brush plate cleaning device, comprising a rotary blanking module and the aforementioned blanking mechanism, wherein the blanking robot module removes the material from the rotary blanking module. In this embodiment, the blanking robot module removes the carrier plate 809 from the rotary blanking module. For the detailed structure of the rotary blanking module, please refer to Example 7.

[0163] See also Figure 6a 、 Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e 、 Figure 9f and Figure 10a, an embodiment of the present invention provides a blanking method for the above-mentioned blanking robot module, comprising the following steps: S1, the first driver 800 and the second driver 801 are actuated to quickly bring the robot to the material picking position; S2, the third driver 802 is actuated to quickly bring the robot to the vicinity of the carrier 809; S3, the fourth driver 803 is actuated to bring the robot to contact the carrier 809; S4, the fifth driver 804 is actuated to drive the robot to fully grasp the carrier 809; S5, the third driver 802, the fourth driver 803 and the fifth driver 804 return to their original positions, and the first driver 800 and the second driver 801 are actuated to bring the robot that has grasped the carrier 809 to the blanking position; S6, the third driver 802, the fourth driver 803 and the fifth driver 804 cooperate to place the carrier 809 into the groove of the material box. In this embodiment, three actuators are used in the Z-axis direction. The third actuator 802 enables the robot to quickly reach a position near the carrier 809, improving material retrieval accuracy. The fourth actuator 803 slowly and accurately brings the robot into contact with the carrier 809. The fifth actuator 804 then moves the robot in the Z-axis direction, ensuring that the robot can fully cover the carrier 809 and stably and reliably grasp the carrier 809. Compared with conventional robot grasping, this module grasps the carrier 809 more easily and accurately. Moreover, when placing the carrier 809 on the loading platform, that is, placing the carrier 809 into the material storage tank, the coordinated action of the three Z-axis directions ensures that the carrier 809 is inserted into the material storage tank. Even if the carrier 809 is deformed, the carrier 809 can still be slowly inserted into the material box. During grasping, the aforementioned flip assembly is required to flip the carrier 809 to a vertical position, making it easier for the robot to grasp the carrier 809.

[0164] As an optimization solution of the embodiment of the present invention, please refer to Figure 9a 、 Figure 9b 、 Figure 9c 、 Figure 9d 、 Figure 9e as well as Figure 9fThe manipulator uses a clamping jaw assembly to clamp the carrier 809. The clamping jaw assembly includes a first clamping jaw 806 and a second clamping jaw 807. The second clamping jaw 807 is a circular clamping jaw. The circular clamping jaw is also provided on the shelf 805. The two circular clamping jaws arranged opposite each other cooperate to clamp the inner edge of the carrier 809. During unloading, after the carrier 809 is inserted into the groove of the magazine, the first clamping jaw 806 is completely released, and only the second clamping jaw 807 continues to clamp the carrier 809. The fifth driver 804 drives the manipulator forward a distance, and the second clamping jaw 807 is released. Then, the fifth driver 804 drives the manipulator back a distance, and the second clamping jaw 807 clamps the carrier 809 again. The fifth driver 804 drives the manipulator forward a distance again, and the second clamping jaw 807 is released again. This reciprocating motion continues until the carrier 809 is fully inserted into the groove of the magazine.

[0165] Embodiment 9:

[0166] See also Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f , an embodiment of the present invention provides a material storage water tank, including a box body 900 that can be filled with liquid, and the box body 900 has a placement position 901 for placing a material supply box 912; the material storage water tank also includes a drum liquid structure for agitating the liquid in the box body 900 and an overflow water structure for discharging dirt from the surface of the liquid. In this embodiment, the material box 912 is completely immersed in liquid, and the liquid can be clean water or other liquids. The drum liquid structure can be used to agitate the liquid in the box body 900, so that the liquid is always in an active state, avoiding dirt from adhering to the surface of the product. In combination with the overflow water structure, the dirt floating on the surface of the liquid can be discharged from the box body 900 to avoid contaminating the product on the carrier. These two structures can well keep the product clean.

[0167] As an optimization solution of the embodiment of the present invention, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10fThe liquid-inflating structure includes an air inlet connector 902. The housing 900 includes a sealed, open shell 904. A bottom plate 903 is provided on the inner bottom of the shell 904, and an air-inflating plate 905 is provided on the bottom plate 903. The air inlet connector 902 passes through the shell 904 via a sealing structure and is fixed to the opening of the bottom plate 903. In this embodiment, the liquid is inflated by introducing gas from the air inlet connector 902, which then flows into the air-inflating plate 905, creating a bubbling effect on the air-inflating plate 905, thereby agitating the liquid within the housing 900. The bottom plate 903 and the sealing structure are both designed to provide a better seal and prevent water leakage.

[0168] To further optimize the above solution, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f The sealing structure includes a first sealing ring 906 sandwiched between the air blast plate 905 and the bottom plate 903, and a second sealing ring 908 locked to the housing 904 by a nut 907. In this embodiment, the bottom plate 903 is designed and then sealed with two layers of sealing rings to ensure a good sealing effect.

[0169] To further optimize the above solution, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f A gasket 909 is further provided inside the second sealing ring 908, and the gasket 909 is pressed against the housing 904 by the second sealing ring. In this embodiment, the gasket 909 is further designed to prevent damage to the housing 904 during locking and to provide a sealing effect.

[0170] To further optimize the above solution, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f The air inlet connector 902 is threadedly connected to the opening of the bottom plate 903. In this embodiment, a threaded connection method can be adopted to facilitate installation or removal of the air inlet connector 902.

[0171] As an optimization solution of the embodiment of the present invention, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10fThere are multiple liquid-drum structures, each arranged in a line. In this embodiment, multiple liquid-drum structures can be provided to ensure the agitation of the liquid within the box 900. The number of liquid-drum structures can match the number of material boxes 912, with each material box 912 being provided with a liquid-drum structure.

[0172] As an optimization solution of the embodiment of the present invention, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f The overflow water structure includes a water trough 910, which is provided on the outer edge of the housing 904. The upper portion of the housing 904 has a notch, and the housing 904 is connected to the water trough 910 through the notch. The water trough 910 has a drain port. In this embodiment, the overflow water structure is implemented by the water trough 910. The liquid in the housing 904 can enter the water trough 910 through the notch, thereby draining the liquid near the top of the water tank. Because dirt tends to float on the surface of the liquid, draining the liquid from the top ensures that the liquid in the tank 900 is clean.

[0173] To further optimize the above solution, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f The water trough 910 is arranged around the housing 904, and the drain port is arranged at a corner of the water trough 910. In this embodiment, the water trough 910 is designed in a circle, which can speed up the drainage efficiency of the liquid.

[0174] As an optimization solution of the embodiment of the present invention, please refer to Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d 、 Figure 10e as well as Figure 10f , a sensor 911 for sensing the material box 912 is provided in the box body 900. In this embodiment, the sensor 911 can be used to sense whether there is a material box 912 in the box body 900.

[0175] Embodiment 10:

[0176] See also Figure 3a and Figure 11An embodiment of the present invention provides a storage box for empty material boxes 1006, including a box body 1000, the feed side opening of the box body 1000 is entered by a material box 1006, a water receiving plate 1001 for receiving water is installed in the box body 1000, and the water receiving plate 1001 is provided with holes 1002 for supplying water to flow into the box body 1000, and a notch 1003 is provided on the plate body of the water receiving plate 1001 close to the feed side, and the lower clamping plate of the material box 1006 taking device is inserted into the notch 1003. In this embodiment, the material box 1006 is taken out from the automatic feeding module by the material box 1006 material taking device, so there is water on the material box 1006. When the carrier plates in the material box 1006 are pushed out layer by layer by the feeding and pushing device, the material box 1006 is now an empty material box 1006. At this time, the material box 1006 material taking device will place the empty material box 1006 into the box body 1000 of the empty material box 1006 storage box. The water receiving plate 1001 will catch the water. The water receiving plate 1001 is designed with a notch 1003, which can facilitate the lower clamping plate of the material box 1006 material taking device to be inserted through the notch 1003 to place the material box 1006 on the water receiving plate 1001. The shape of the notch 1003 matches the shape of the lower clamping plate. If the lower clamping plate has several ridges, the notch 1003 is a matching groove for the ridges to be inserted. Please refer to the second embodiment for the material box 1006 material taking device.

[0177] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 The water receiving plate 1001 is provided with a feed box 1006 and a slide rail 1004 on which the feed box 1006 slides. In this embodiment, the slide rail 1004 is provided for the feed box 1006 to slide on. On the one hand, it facilitates the feed box 1006 to enter the deep part of the box 1000. On the other hand, it is convenient to set up the feed box 1006 to dry the feed box 1006. When the feed box 1006 is placed in the box 1000, the first feed box 1006 will be placed near the feed side. When the second feed box 1006 is placed, it will push the first feed box 1006 a little deeper. When the third feed box 1006 is placed, it will push the second feed box 1006 a little deeper, until the first feed box 1006 is pushed to the deepest part.

[0178] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 , a sensor 1005 for sensing the material box 1006 is provided at a position away from the feeding side of the box 1000. In this embodiment, since the material boxes 1006 are squeezed one by one into the deep part of the box 1000, a sensor 1005 is provided at the deep part. When the material box 1006 is sensed, it means that the box 1000 is full.

[0179] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 , a drainage hole is provided at the bottom of the box body 1000. In this embodiment, water falling from the material box 1006 can be discharged from the drainage hole.

[0180] See also Figure 3a and Figure 11 An embodiment of the present invention further provides a fully automatic brush plate cleaning device, including a material box 1006 picking device and the above-mentioned empty material box 1006 storage box, and the empty material box 1006 on the material box 1006 picking device is sent into the empty material box 1006 storage box.

[0181] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 The material box 1006 material taking device includes an upper clamping plate, a lower clamping plate and a cylinder driving the upper clamping plate and the lower clamping plate to open and close, and the notch 1003 is for the lower clamping plate to be inserted.

[0182] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 The empty material box 1006 storage box is mounted on the X-axis linear module of the material box 1006 picking device via a vertical plate. In this embodiment, the empty material box 1006 storage box is suspended in the air and is located on the X-axis motion trajectory of the material box 1006 picking device, making it convenient for the material box 1006 picking device to place the empty material box 1006 into the empty material box 1006 storage box.

[0183] As an optimization solution of the embodiment of the present invention, please refer to Figure 3a and Figure 11 , also includes an automatic feeding module, and the empty material box 1006 storage box is located directly above the automatic feeding module. In this embodiment, the automatic feeding module is used to replenish materials for the feeding mechanism, specifically, to provide material boxes 1006 for the material box 1006 picking device of the feeding mechanism. After the material box 1006 is taken by the material box 1006 picking device, it is manually put back in. Placing the empty material box 1006 storage box directly above the automatic feeding module can facilitate the water falling from the empty material box 1006 to re-enter the automatic feeding module through the drainage hole for use. Of course, the drainage hole can also be connected to a pipe to drain the water away. Whether it is drained away depends on the cleanliness of the water.

[0184] Example 11:

[0185] See also Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a、 Figure 10a as well as Figure 11 The embodiment of the present invention also provides a fully automatic brush plate cleaning method, comprising the following steps: S1, using a loading mechanism to deliver a carrier plate with a product attached to a brush plate carrier 314; S2, the brush plate carrier 314 moves the carrier plate and drives the carrier plate to swing during the movement; S3, the brush plate carrier 314 delivers the carrier plate to a cleaning device for cleaning; S4, after cleaning, the brush plate carrier 314 carries the carrier plate out of the cleaning area where the cleaning device is located and delivers it to a unloading mechanism; S5, the unloading mechanism places the carrier plate processed by the cleaning device into the material storage water tank 320. In this embodiment, by arranging the cleaning device and the material storage water tank 320 on an automated production line, human loss and untimely placement of materials in the storage water tank are reduced. In addition, the defect caused by the need for manual loading and unloading of materials in semi-automatic cleaning equipment is solved. At the same time, automated production not only greatly improves production efficiency compared to traditional semi-automatic production, but also has higher stability and reliability.

[0186] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 Before loading, the automatic feeding module 211 is used to replenish materials for the feeding mechanism. In this embodiment, the automatic feeding module 211 is used to replenish materials for the feeding mechanism, specifically to provide material boxes for the material box picking device 200 of the feeding mechanism. After the material boxes are taken by the material box picking device 200, they are manually put back in. Since each material box has several grooves, each groove can be loaded with a carrier plate, so there are many carrier plates. By designing the size of the automatic feeding module 211, multiple material boxes can be placed, which can basically meet the requirements of fully automatic operation. Cleaning is to clean the products on the carrier plate, so the carrier plate is transferred downward with the cleaning process.

[0187] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11When loading, the material box picking device 200 of the loading mechanism takes out a material box from the automatic feeding module 211, and then the feeding pushing device 201 of the loading mechanism pushes one of the carrier plates in the material box into the brush plate carrier 314. In this embodiment, loading is divided into two steps. One is that the material box picking device 200 takes out the material box from the automatic feeding module 211, and the second step is that the feeding pushing device 201 pushes one of the carrier plates in the material box onto the brush plate carrier 314, and the brush plate carrier 314 carries the carrier plate to the following processes. This involves actions in three directions. First, the material box picking device 200 involves actions in the X-axis and Z-axis directions to take the material box out of the automatic feeding module 211 into the air. Then, after moving in the Z-axis direction to the working position of the feeding pushing device 201, the feeding pushing device 201 pushes the carrier plate onto the brush plate carrier 314 in the Y-axis direction. When moving to other individual processes, the directions can be redefined for ease of description. If the process is carried out in the overall flow direction, the brush carrier 314 moves along the Y-axis with the carrier, while also swinging along the X-axis. This allows the cleaning device to clean from multiple directions, resulting in a more thorough cleaning of the product on the carrier.

[0188] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 When cleaning, the carrier plate is scrubbed by the hair wheel cleaning mechanism 400. In this embodiment, the cleaning method can be scrubbing by rotating the hair wheel.

[0189] To further optimize the above solution, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 The bristle wheel cleaning mechanism 400 has multiple bristle wheels, each of which can rotate independently. In this embodiment, the multiple bristle wheels can operate independently, so that the rotation speed and rotation direction of each bristle wheel can be controlled, providing all-round cleaning and improving the cleaning effect.

[0190] To further optimize the above solution, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 A water collecting tank is provided below the wool wheel cleaning mechanism 400 to collect waste water. In this embodiment, the water collecting tank is provided to collect waste water, so as to avoid the waste water after cleaning from polluting the environment.

[0191] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 During unloading, the unloading rotary module receives the carrier delivered by the brush carrier 314 and then rotates it 90 degrees, turning the horizontal carrier into a vertical position. In this embodiment, changing the position of the carrier facilitates the subsequent unloading robot module to grasp the carrier and also allows for the rational use of height space to set up the unloading robot module.

[0192] To further optimize the above solution, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 The unloading rotary module first moves the carrier delivered by the brush plate carrier 314 a certain distance through the circulation channel, and then flips the carrier 90°. In this embodiment, continuing with the above-mentioned azimuth description, the unloading rotary module first moves the carrier a certain distance in the Y-axis direction, which is consistent with the direction of movement of the brush plate carrier 314. This circulation provides a buffer stage before the carrier flips, avoiding deviation. After the carrier reaches the flipping position, it is first aligned to ensure that the flip is smooth.

[0193] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 The unloading robot module grabs the carrier after it has been flipped 90° by the unloading rotation module, and then delivers the carrier to the material storage tank 320. In this embodiment, continuing with the above-described position description, after grabbing the carrier, the unloading robot moves in the X-axis direction, brings the carrier to the material storage tank 320, and then inserts the carrier into the material box in the material storage tank 320.

[0194] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 、 Figure 2a 、 Figure 3a 、 Figure 4a 、 Figure 5a 、 Figure 6a 、 Figure 7a 、 Figure 8a 、 Figure 9a 、 Figure 10a as well as Figure 11 After the feeding and pushing device 201 pushes all the carrier plates in the material box grabbed by the material box picking device 200 onto the brush plate carrier 314, the feeding and pushing device 201 puts the empty material box into the empty material box storage box. In this embodiment, following the above-mentioned azimuth description, the material box picking device 200 first rises a certain distance on the Z axis to the empty material box storage box, and then moves in the X-axis direction to put the empty material box into the empty material box storage box. After placing it, the material picking action (i.e. grabbing the material box from the automatic feeding module 211) is repeated. Providing this empty material box storage box can further improve the degree of automation of the cleaning operation.

[0195] The entire fully automatic brush plate cleaning method has been described so far. For the specific structures of the various components involved in the method, please refer to Examples 1 to 10, which will not be repeated here.

[0196] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A blanking robot module, characterized by: The control device of claim 1 further comprising: a first driver for driving in the X-axis direction, a second driver for driving in the Y-axis direction, a third driver for driving in the Z-axis direction, a fourth driver for driving in the Z-axis direction, and a fifth driver for driving in the Z-axis direction, wherein the second driver drives the first driver to move, the first driver drives the third driver to move, the third driver drives the fourth driver to move, and the fourth driver drives the fifth driver to move, and a manipulator for clamping a carrier is installed on the fifth driver, wherein the manipulator comprises a shelf for placing the carrier and a clamping jaw assembly for clamping the carrier on the shelf, the clamping jaw assembly comprises a plurality of first clamping jaws for pressing the outer edge of the carrier on the shelf and a first driving member for driving each of the first clamping jaws to move toward or away from the shelf, the clamping jaw assembly also comprises a second clamping jaw for pressing the inner edge of the carrier on the shelf and a second driving member for driving the second clamping jaw to move toward or away from the shelf.

2. The blanking robot module according to claim 1, characterized in that: The second clamping jaw is a circular clamping jaw, and the placing platform is also provided with the circular clamping jaw. The two circular clamping jaws arranged opposite to each other cooperate to clamp the inner edge of the carrier plate.

3. The blanking robot module according to claim 1, characterized in that: The shelf comprises side walls on both sides, and the two side walls expand outwards to form a flared arrangement.

4. A fully automatic brush plate cleaning device, characterized by: It comprises a material storage water tank and a material unloading robot module as described in any one of claims 1 to 3, and the material unloading robot module places the carrier plate into the material box in the material storage water tank.

5. The fully automatic brush plate cleaning device according to claim 4, characterized in that: It also includes a blanking rotary module, and the blanking robot module takes materials from the blanking rotary module.

6. A blanking method for a blanking robot module according to any one of claims 1 to 3, characterized in that: The steps include: S1, the first driver and the second driver are in motion to quickly move the manipulator to a material picking position; S2, the third driver is actuated to quickly bring the manipulator to the vicinity of the carrier; S3, the fourth driver is actuated to bring the robot arm into contact with the carrier plate; S4, the fifth driver is actuated to drive the manipulator to fully grasp the carrier; S5, the third driver, the fourth driver, and the fifth driver return to their original positions, and the first driver and the second driver operate to move the manipulator that has grasped the carrier to a position for unloading. S6, the third driver, the fourth driver, and the fifth driver cooperate to place the carrier plate into the groove of the material box.

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