An automatic cleaning device

Abstract

The present invention relates to the field of automatic cleaning technology, and particularly to an automatic cleaning device. The automatic cleaning device includes a loading and unloading component, a positioning component, a carrier component, a cleaning component, and a detection component. The loading and unloading component transfers a tray containing a plurality of products from the loading station to the carrier component located at the receiving station. When the carrier component moves to the adjustment station, the tray is rotated according to the detection value of the positioning component so that the product rotates to a preset cleaning angle. After the carrier component moves to the cleaning station and is cleaned by the cleaning component, the detection component detects the cleanliness of the product. If the cleanliness of the product meets the requirements, the cleaning component continues to clean the next product. If the cleanliness of the product does not meet the requirements, the cleaning component continues to clean the product until all the products in the tray are cleaned. The tray returns to the receiving station, and the loading and unloading component transfers the tray to the unloading station. The automatic cleaning device realizes the automatic cleaning of products and improves the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cleaning, and particularly to an automatic cleaning device. Background Art

[0002] During the production process of a micro camera, manual counting and manual cleaning are used for lens feeding. Since the size of the lens is small (generally 1x1x2.2 mm) and its internal components are even smaller, it is difficult to clean the lens, which not only takes a long time, but also has low cleaning efficiency and the cleaning effect is difficult to meet the use requirements.

[0003] At the same time, it is also necessary to manually detect the cleaned lens with the aid of a microscope or other detection equipment, which further increases the workload and time of lens feeding. Moreover, there are problems such as inconsistent detection standards and easy occurrence of misdetection in manual detection, which affect the product yield of the lens.

[0004] Therefore, there is an urgent need for an automatic cleaning device to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic cleaning device to achieve automatic cleaning and detection of products, improve the cleaning quality and efficiency of products, and ensure the product yield.

[0006] To achieve this purpose, the technical solution adopted by the present invention is as follows:

[0007] An automatic cleaning device, comprising:

[0008] A loading and unloading component configured to transfer a tray containing a plurality of products between a loading station, a receiving station, and a unloading station;

[0009] A positioning component configured to detect the placement angle of the products in the tray located at the adjustment station;

[0010] A stage component configured to carry the tray and drive the tray to transfer between the receiving station, the adjustment station, and the cleaning station; the loading and unloading component transfers the tray from the loading station to the receiving station and places it on the stage component, or transfers the tray after cleaning the products from the receiving station to the unloading station; the stage component located at the adjustment station can rotate the tray according to the detection value of the positioning component so that the products rotate to a preset cleaning angle;

[0011] A cleaning component configured to clean the products located at the cleaning station; and

[0012] The detection component is configured to detect the cleanliness of the product on the cleaning station, and the cleaning component selectively continues to clean the product or the next product in the tray according to the detection value of the detection component.

[0013] As a preferred solution, the automatic cleaning device further includes a pre-cleaning component, and the pre-cleaning component includes:

[0014] An ion air knife is arranged on one side of the cleaning station and can blow air at the product in the tray.

[0015] As a preferred solution, the pre-cleaning component further includes:

[0016] An exhaust fan and an exhaust port, and the exhaust fan adsorbs the gas blown out by the ion air knife and the impurities blown off the product through the exhaust port.

[0017] As a preferred solution, the ion air knife and a plurality of the exhaust ports surround the periphery of the carrier assembly located at the cleaning station.

[0018] As a preferred solution, the pre-cleaning component further includes:

[0019] A first driving member is configured to drive the exhaust port located between the material receiving station and the cleaning station to move up and down along the Z-axis direction, so that the exhaust port located between the material receiving station and the cleaning station descends when the carrier assembly leaves the cleaning station and resets after the carrier assembly reaches the cleaning station.

[0020] As a preferred solution, the cleaning component includes:

[0021] A carbon dioxide nozzle is configured to spray carbon dioxide at one product in the tray located at the cleaning station; and

[0022] A three-axis module, the three-axis module includes an X-axis module, a Y-axis module and a first Z-axis module, the X-axis module is arranged on one side of the cleaning station, and the X-axis module drives the Y-axis module to move along the X-axis direction; the Y-axis module drives the first Z-axis module to move along the Y-axis direction, and the output end of the first Z-axis module is connected with the carbon dioxide nozzle, so that the carbon dioxide nozzle can move along the Z-axis direction.

[0023] As a preferred solution, the detection component includes:

[0024] A detection CCD camera is configured to take pictures of the same product before and after cleaning respectively and compare the pictures taken, so as to detect the cleanliness of the product;

[0025] The second Z-axis module, the Y-axis module drives the second Z-axis module to move in the Y-axis direction, and the output end of the second Z-axis module is connected with the detection CCD camera, so that the detection CCD camera can move in the Z-axis direction.

[0026] As a preferred solution, the stage assembly includes:

[0027] A stage, the stage includes a tray and clamping jaws, a plurality of the clamping jaws are arranged along the circumferential direction of the tray, and the plurality of clamping jaws can approach each other to jointly clamp and fix the tray or move away from each other to release the tray; and

[0028] A second driving member and a third driving member, the second driving member can drive the tray to flow between the material receiving station, the adjustment station and the cleaning station; the third driving member can drive the tray to rotate around its axis at the adjustment station.

[0029] As a preferred solution, a plurality of adsorption holes are formed in the tray, and the tray vacuum-adsorbs the tray transferred from the loading station to the material receiving station through the adsorption holes.

[0030] As a preferred solution, the loading and unloading assembly includes:

[0031] A manipulator;

[0032] A loading device, including a loading bin and a first lifting driving member, a plurality of the trays containing the products to be cleaned are stacked in the loading bin, and the first lifting driving member drives the loading bin to gradually rise, so that the manipulator transfers the trays in the loading bin to the material receiving station in sequence at the same material taking height; and

[0033] An unloading device, including an unloading bin and a second lifting driving member, the second lifting driving member drives the unloading bin to gradually lower, so that the manipulator transfers the trays containing the cleaned products to the material receiving station at the same material placing height and stacks them in the unloading bin in sequence.

[0034] The beneficial effects of the present invention are:

[0035] An automatic cleaning device proposed by the present invention includes a loading and unloading component, a positioning component, a stage component, a cleaning component, and a detection component. The loading and unloading component transfers a tray containing multiple products from the loading station to the stage component located at the receiving station. When the stage component moves to the adjustment station, the positioning component detects the placement angle of the products in the tray, and the stage component can rotate the tray according to the detection value of the positioning component so that the products are rotated to a preset cleaning angle. Then, after the stage component moves to the cleaning station and passes through the cleaning of the cleaning component, the detection component detects the cleanliness of the products. If the cleanliness of the products meets the requirements, the cleaning component continues to clean the next product in the tray; if the cleanliness of the products does not meet the requirements, the cleaning component continues to clean the product. After all the products in the tray are cleaned, the stage component drives the tray back to the receiving station, and the loading and unloading component transfers the tray with the cleaned products to the unloading station. The automatic cleaning device can automatically complete the processes of loading and unloading, cleaning, and detecting the products, without manual participation, achieving automatic cleaning of the products and improving the cleaning efficiency. At the same time, the detection component ensures that the cleaned products have a high cleanliness, guarantees the cleaning quality, and improves the product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic structural diagram of the automatic cleaning device provided by an embodiment of the present invention;

[0037] Figure 2 is an assembly structural diagram of the loading and unloading component, positioning component, stage component, pre-cleaning component, cleaning component, and detection component inside the housing provided by an embodiment of the present invention;

[0038] Figure 3 is a schematic structural diagram of the loading and unloading component provided by an embodiment of the present invention;

[0039] Figure 4 is an assembly structural diagram of the stage component and the pre-cleaning component provided by an embodiment of the present invention;

[0040] Figure 5 is a schematic structural diagram of the positioning component provided by an embodiment of the present invention;

[0041] Figure 6 is an assembly structural diagram of the cleaning component and the detection component provided by an embodiment of the present invention.

[0042] The names and reference numerals of the components in the figure are as follows:

[0043] 10, housing; 20, fan filter unit; 30, alarm device; 40, control panel;

[0044] 1. Loading and unloading component; 11. Manipulator; 12. Loading bin; 13. Loading bin bracket; 14. First lifting drive; 15. Unloading bin; 16. Unloading bin bracket; 17. Second lifting drive;

[0045] 2. Positioning component; 21. Positioning bracket; 22. Positioning CCD camera; 23. First light source; 24. Second light source;

[0046] 3. Carrier stage component; 31. Carrier stage; 311. Tray; 312. Jaw; 32. Second drive;

[0047] 4. Pre-cleaning component; 41. Ion air knife; 42. Exhaust fan; 43. Exhaust port; 44. First drive;

[0048] 5. Cleaning component; 51. Carbon dioxide nozzle; 52. X-axis module; 53. Y-axis module; 54. First Z-axis module;

[0049] 6. Detection component; 61. Detection CCD camera; 62. Second Z-axis module. Detailed implementation mode

[0050] In order to make the technical problems solved by the present invention, the technical solutions adopted and the achieved technical effects clearer, the technical solutions of the present invention will be further described below with reference to the drawings and through specific implementation modes. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention are shown in the drawings, rather than all of them.

[0051] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include contact between the first and second features through additional features therebetween rather than direct contact. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0053] In the description of this embodiment, the orientation or positional relationships such as "up", "down", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0054] The technical solution of the present invention will be further described below in conjunction with the drawings and through specific embodiments.

[0055] In the production process of a micro camera, manual counting and manual cleaning are adopted for lens loading. The cleaning of the lens is difficult, not only time-consuming, with low cleaning efficiency and the cleaning effect is difficult to meet the use requirements. At the same time, manual inspection of the cleaned lens is also required with the aid of a microscope or other detection equipment, which further increases the workload and time of lens loading, and there are misinspections in manual inspection, affecting the product yield of the lens.

[0056] To solve the above problems, as Figure 1 shown, this embodiment proposes an automatic cleaning device, which can perform automatic loading, automatic cleaning, automatic detection and automatic unloading processes on products, realizing the automatic cleaning process of products and improving the cleaning efficiency. It should be noted that the products in this embodiment are micro products such as micro lenses and chips, etc., and no specific limitation is made here. In addition, the automatic cleaning device can complete the automatic counting of the trays. Since the number of products in the trays is fixed, the total amount of products can be accurately calculated. Since the counting operation is a conventional function of the automatic device, it will not be elaborated here.

[0057] The automatic cleaning device of this embodiment includes a housing 10, and above the housing 10, a fan filter unit 20, an alarm device 30, an operation screen 40, a carbon dioxide concentration sensor, etc. are installed. Among them, the fan filter unit 20 is used to remove impurities inside the housing 10 to ensure a clean environment inside the housing 10. When the automatic cleaning device has an abnormality, the alarm device 30 is used to give an audible and visual alarm to remind the operator to perform manual cleaning or maintenance inspection. The carbon dioxide concentration sensor is used to detect the carbon dioxide concentration value inside the housing 10. The operator can achieve human-machine interaction through the operation screen 40. For example, set cleaning parameters (cleaning coordinates, cleaning time, qualified range of cleanliness, etc.) are input into the control module of the automatic cleaning device so that the automatic cleaning device can complete automatic cleaning.

[0058] As Figure 2 shown, the automatic cleaning device includes a loading and unloading component 1, a positioning component 2, a stage component 3, a cleaning component 5, and a detection component 6 installed inside the housing 10. The loading and unloading component 1 is used to transfer a tray containing multiple products among the loading station, the receiving station, and the unloading station. The positioning component 2 is used to detect the placement angle of the products in the tray located at the adjustment station. The stage component 3 is used to carry the tray and drive the tray to rotate among the receiving station, the adjustment station, and the cleaning station. The loading and unloading component 1 transfers the tray from the loading station to the receiving station and places it on the stage component 3, or transfers the tray with the products after cleaning from the receiving station to the unloading station. The stage component 3 located at the adjustment station can rotate the tray according to the detection value of the positioning component 2 so that the product rotates to a preset cleaning angle. The cleaning component 5 is used to clean the products located at the cleaning station. The detection component 6 is used to detect the cleanliness of the products at the cleaning station, and the cleaning component 5 selectively continues to clean the products or the next product in the tray according to the detection value of the detection component 6.

[0059] It should be noted that a plurality of positioning areas are provided in the tray, and one product is placed in each positioning area. Through the tray, multiple products can be loaded simultaneously, which is convenient for the transfer of products and does not require loading each product one by one, improving the loading efficiency of products.

[0060] The main cleaning process of the automatic cleaning equipment is as follows: The loading and unloading component 1 transfers the tray containing multiple products from the loading station to the carrier component 3 located at the receiving station. When the carrier component 3 moves to the adjustment station, the positioning component 2 detects the placement angle of the products in the tray, and the carrier component 3 can rotate the tray according to the detection value of the positioning component 2 to rotate the products to the preset cleaning angle. Then, after the carrier component 3 moves to the cleaning station and is cleaned by the cleaning component 5, the detection component 6 detects the cleanliness of the products. If the cleanliness of the products meets the requirements, the cleaning component 5 continues to clean the next product in the tray. If the cleanliness of the products does not meet the requirements, the cleaning component 5 continues to clean the product. After all the products in the tray are cleaned, the carrier component 3 drives the tray back to the receiving station, and the loading and unloading component 1 transfers the tray with the cleaned products to the unloading station.

[0061] The above-mentioned automatic cleaning equipment can automatically complete the processes of loading and unloading, cleaning, and detecting products, without manual participation, realizing the automatic cleaning of products and improving the cleaning efficiency. At the same time, the detection component 6 ensures that the products after cleaning have a high cleanliness, guarantees the cleaning quality, and improves the product yield.

[0062] Now in combination with Figure 3 the structure of the loading and unloading component 1 will be described in detail. As Figure 3 shown, the loading and unloading component 1 includes a loading device, a manipulator 11, and an unloading device. The loading station, the receiving station, and the unloading station are arranged in sequence along the Y-axis direction. The loading device is arranged at the loading station, the manipulator 11 is arranged at the receiving station, and the unloading device is arranged at the unloading station. The loading device includes a loading bin 12 and a first lifting drive 14. Multiple trays containing the products to be cleaned are stacked in the loading bin 12, and the first lifting drive 14 drives the loading bin 12 to gradually rise, so that the manipulator 11 transfers the trays in the loading bin 12 to the receiving station in sequence at the same picking height. The unloading device includes an unloading bin 15 and a second lifting drive 17. The second lifting drive 17 drives the unloading bin 15 to gradually lower, so that the manipulator 11 transfers the trays containing the cleaned products to the receiving station and stacks them in the unloading bin 15 in sequence at the same discharging height. By using the manipulator 11 to replace the manual loading and unloading process, not only the loading and unloading efficiency is improved, but also the position accuracy of the trays during the loading and unloading process is improved.

[0063] It should be noted that the picking height of the manipulator 11 is equal to the discharging height, that is, the manipulator 11 does not need to perform vertical lifting actions, which improves the loading and unloading efficiency of the manipulator 11.

[0064] Specifically, the loading device further includes a loading bin support 13. The first lifting driving member 14 is installed at the lower end of the loading bin support 13, and the loading bin 12 is installed at the upper end of the loading bin support 13. The output end of the first lifting driving member 14 is connected to the loading bin 12. After the manipulator 11 takes away a tray, the first lifting driving member 14 drives the loading bin 12 to rise by a certain height, so that the tray at the top end inside the loading bin 12 reaches the height of the just-taken-away tray, that is, the picking height, and waits to be taken away by the manipulator 11 again. The unloading device further includes an unloading bin support 16. The second lifting driving member 17 is installed at the lower end of the unloading bin support 16, and the unloading bin 15 is installed at the upper end of the unloading bin support 16. The output end of the second lifting driving member 17 is connected to the unloading bin 15. After the manipulator 11 places the cleaned tray into the unloading bin 15, the second lifting driving member 17 drives the unloading bin 15 to descend by a certain height, so that the height of the next tray to be placed into the unloading bin 15 (i.e., the discharging height) is equal to the height of the just-placed tray.

[0065] In this embodiment, both the first lifting driving member 14 and the second lifting driving member 17 are cylinders, which have relatively high control precision and are convenient for installation. Of course, the first lifting driving member 14 and the second lifting driving member 17 can also be driving members such as motors and hydraulic cylinders, which are not specifically limited herein.

[0066] Now in combination with Figure 4 the structure of the stage assembly 3 will be described in detail. As Figure 4 shown, the stage assembly 3 includes a stage 31, a second driving member 32 and a third driving member. The stage 31 includes a tray 311 and clamping jaws 312. A plurality of clamping jaws 312 are arranged along the circumferential direction of the tray 311. The plurality of clamping jaws 312 can approach each other to jointly clamp and fix the tray or move away from each other to release the tray. The second driving member 32 can drive the tray 311 to flow between the material receiving station, the adjustment station and the cleaning station. The third driving member can drive the tray 311 to rotate around its axial direction at the adjustment station.

[0067] Specifically, the material receiving station, the adjustment station and the cleaning station are sequentially distributed along the X-axis direction. A plurality of adsorption holes are formed in the tray 311, and the tray transferred from the loading station to the material receiving station is vacuum-adsorbed through the adsorption holes. The automatic cleaning device further includes a vacuum generator. The air extraction port of the vacuum generator is communicated with the plurality of adsorption holes through a pipeline, so that the adsorption holes can adsorb or release the tray.

[0068] When the second driving member 32 drives the tray 311 to reach the loading station, the manipulator 11 places the tray in the loading bin 12 on the tray 311, the vacuum generator is turned on, and the suction holes suck the tray, so that the manipulator 11 is withdrawn from the tray 311. Further, an avoidance groove for avoiding the manipulator 11 is formed on the tray 311 to facilitate the manipulator 11 to extend into the tray 311 and place the tray on the surface of the tray 311. After the manipulator 11 is withdrawn from the tray 311, the vacuum generator is turned off, and the suction holes release the tray. A plurality of clamping jaws 312 approach each other on the tray 311 to jointly clamp the tray, so as to realize the stable locking of the tray on the tray 311. It can be understood that a clamping jaw driving member is arranged on the tray 311, and the clamping jaw driving member is in transmission connection with a plurality of clamping jaws 312 to make the plurality of clamping jaws 312 approach or separate from each other. The clamping jaw driving member can be a motor or a cylinder, etc.

[0069] Before the tray 311 drives the tray back to the cleaning station along the X-axis direction, it also has to pass through an adjustment station. As Figure 1 and Figure 5 shown, the positioning assembly 2 includes a positioning bracket 21, a positioning CCD camera 22 and a first light source 23. The top end of the positioning bracket 21 extends directly above the adjustment station, and the positioning CCD camera 22 and the first light source 23 are both installed at the top end of the positioning bracket 21. The positioning CCD camera 22 can take pictures of the products in the tray, so as to obtain the coordinate values of the products in the tray on the tray 311. The positioning CCD camera 22 compares the taken pictures with the preset cleaning coordinates (the coordinates of the first product to be cleaned) input by the operator, so as to obtain the included angles between the two coordinate points and the center of the tray 311 (or the center of the tray). The third driving member can drive the tray 311 to rotate around its axis at the adjustment station, so that the two coordinate points coincide, thereby completing the alignment operation of the products, that is, the products on the tray have a preset cleaning angle. The tray 311 drives the tray to rotate so that the products rotate to the preset cleaning angle. Finally, the tray 311 drives the adjusted tray to reach the cleaning station, and the cleaning assembly 5 automatically cleans the products on the tray one by one. The above preset cleaning coordinates are set independently by the operator, and the setting process will not be elaborated here.

[0070] In this embodiment, the second driving member 32 and the third driving member are both cylinders, which have high control precision and are convenient for installation. Of course, the second driving member 32 and the third driving member can also be driving members such as motors and hydraulic cylinders, which are not specifically limited here.

[0071] Before the products are cleaned, there may be some impurities such as dust adsorbed by static electricity on the surfaces of the products, which increases the cleaning difficulty. For this reason, the automatic cleaning device further includes a pre-cleaning assembly 4 to pre-clean the products and eliminate the static electricity on the surfaces of the products.

[0072] Now in combination withFigure 1 and Figure 4 A detailed description of the structure of the pre-cleaning component 4 is given. As Figure 2 and Figure 4 shown, the pre-cleaning component 4 includes an ion air knife 41, a suction fan 42, and a suction port 43. The ion air knife 41 is disposed on one side of the cleaning station and can blow air at the products in the tray. The suction fan 42 adsorbs the gas blown out by the ion air knife 41 and the impurities blown off the products through the suction port 43. The ion air knife 41 is a dedicated static elimination device that is fixed, has the characteristics of being easy to install, stable in operation, and fast in static elimination speed. Since the ion air knife 41 is a mature product, its specific structure and working principle will not be described in detail.

[0073] Specifically, the ion air knife 41 and multiple suction ports 43 surround the four sides of the stage component 3 located at the cleaning station. The number of suction ports 43 in this embodiment is three. The ion air knife 41 and one of the suction ports 43 are respectively disposed on both sides of the tray 311 located at the cleaning station along the Y-axis direction, and the other two suction ports 43 are respectively disposed on both sides of the tray 311 located at the cleaning station along the X-axis direction. The gas blown out by the ion air knife 41 can eliminate the static electricity of the products in the tray and at the same time blow off the impurities adsorbed by static electricity from the products. The three suction ports 43 are used to collect the impurities removed by the ion air knife 41 to complete the pre-cleaning process.

[0074] It should be noted that since one of the suction ports 43 distributed along the X-axis direction is located between the material receiving station and the cleaning station, in order to avoid interference between the tray 311 and this suction port 43 when the tray 311 reciprocates between the material receiving station and the cleaning station, the pre-cleaning component 4 further includes a first driving member 44. The first driving member 44 drives the suction port 43 located between the material receiving station and the cleaning station to move up and down along the Z-axis direction, so that the suction port 43 located between the material receiving station and the cleaning station descends when the stage component 3 leaves the cleaning station and resets after the stage component 3 reaches the cleaning station.

[0075] The first driving member 44 in this embodiment is a cylinder, which has high control precision and is easy to install. Of course, the first driving member 44 can also be a driving member such as a motor or a hydraulic cylinder, which is not specifically limited herein.

[0076] As Figure 4 shown, the positioning component 2 further includes a second light source 24. The second light source 24 is installed on one of the suction ports 43 to supplement light during the shooting process of the positioning CCD camera 22, improve the shooting clarity of the positioning CCD camera 22, and thus improve the positioning accuracy of the positioning component 2. The above-mentioned first light source 23 and second light source 24 can be LED lamp beads, which have high brightness and are easy to install.

[0077] Now in combination with Figure 2 and Figure 6The structure of the pre-cleaning component 4 is described in detail. Figure 2 and Figure 6 As shown, the cleaning component 5 includes a carbon dioxide nozzle 51 and a three-axis module. The carbon dioxide nozzle 51 is used to spray carbon dioxide onto a product in a material tray located at the cleaning station. The three-axis module includes an X-axis module 52, a Y-axis module 53 and a first Z-axis module 54. The X-axis module 52 is arranged on one side of the cleaning station, and the X-axis module 52 drives the Y-axis module 53 to move along the X-axis direction. The Y-axis module 53 drives the first Z-axis module 54 to move along the Y-axis direction, and the output end of the first Z-axis module 54 is connected to the carbon dioxide nozzle 51 so that the carbon dioxide nozzle 51 can move along the Z-axis direction.

[0078] It should be noted that the automatic cleaning device also includes a carbon dioxide cleaning mechanism, which sprays dry ice to the product to be cleaned through a carbon dioxide nozzle 51, and no chemical reaction or residue will occur on the surface of the product, thereby improving the cleaning effect of the product.

[0079] Specifically, there are two X-axis modules 52, and the two X-axis modules 52 are relatively arranged on both sides of the tray 311 located at the cleaning station along the Y-axis direction. The Y-axis module 53 is slidably arranged on the two X-axis modules 52 to form a U-shaped frame, and the U-shaped frame is located directly above the ion wind knife 41 and the exhaust port 43 to reduce the volume and floor space of the automatic cleaning equipment, thereby realizing the compact installation of the automatic cleaning equipment. The output ends of the two X-axis modules 52 are transmission-connected to the Y-axis module 53 so that the Y-axis module 53 can move along the X-axis direction. The output end of the Y-axis module 53 is transmission-connected to the first Z-axis module 54 so that the first Z-axis module 54 can move along the Y-axis direction. The output end of the first Z-axis module 54 is transmission-connected to the carbon dioxide nozzle 51 so that the carbon dioxide nozzle 51 can be raised and lowered along the Z-axis direction.

[0080] Before the tray containing the product to be cleaned moves to the cleaning station with the tray 311, the carbon dioxide nozzle 51 is raised to the working height (set by the operator) under the drive of the first Z-axis module 54, and then moves to the position of one of the products in the tray under the drive of the X-axis module 52 and the Y-axis module 53, and the carbon dioxide nozzle 51 starts to clean the product. When the cleaning time (set by the operator) is reached, the detection component 6 detects the outer surface of the product and obtains the detection value (cleanliness). If the detection value is within the qualified range (set by the operator), the cleaning of one product is completed. The carbon dioxide nozzle 51 is moved to the position of the next product by the three-axis module, and the next product is continued to be cleaned until all the products in the tray are cleaned. The second drive member 32 drives the tray 311 to move from the cleaning station to the material receiving station along the X-axis direction, and the manipulator 11 transfers the tray containing the cleaned product to the lower bin 15.

[0081] Further, as Figure 6 shown, the detection component 6 includes a detection CCD camera 61 and a second Z-axis module 62. The detection CCD camera 61 can take pictures of the same product before and after cleaning respectively and compare the pictures taken, so as to detect the cleanliness of the product. The Y-axis module 53 drives the second Z-axis module 62 to move in the Y-axis direction. The output end of the second Z-axis module 62 is connected with the detection CCD camera 61, so that the detection CCD camera 61 can move in the Z-axis direction. Clear and accurate pictures before and after cleaning can be obtained through the detection CCD camera 61, thereby improving the detection accuracy and precision.

[0082] It should be noted that when the cleanliness of the product detected by the detection CCD camera 61 is not within the qualified range, the above-mentioned cleaning process of the carbon dioxide nozzle 51 and the detection process of the detection CCD camera 61 are repeated until the cleanliness of the cleaned product is within the qualified range. If the cleanliness of the product is still not within the qualified range after repeated cleaning for many times, manual cleaning and manual detection are required. The main processes include: manually adjusting the position of the carbon dioxide nozzle 51, cleaning the product through the carbon dioxide nozzle 51, and then after taking pictures through the detection CCD camera 61, manually comparing the pictures before and after cleaning and judging whether it is qualified.

[0083] The above embodiments only illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, there are various changes and modifications to the present invention, and these changes and modifications all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic cleaning device, characterized in that, Comprising: A loading and unloading component (1), configured to transfer a tray containing a plurality of products among a loading station, a receiving station, and a unloading station; A positioning component (2), configured to detect the placement angle of the products in the tray located at the adjustment station; A stage component (3), configured to carry the tray and drive the tray to transfer among the receiving station, the adjustment station, and the cleaning station; the loading and unloading component (1) transfers the tray from the loading station to the receiving station and places it on the stage component (3), or transfers the tray after cleaning the products from the receiving station to the unloading station; The stage component (3) located at the adjustment station can rotate the tray according to the detection value of the positioning component (2) so that the products rotate to a preset cleaning angle; A cleaning component (5), configured to clean the products located at the cleaning station; And A detection component (6), configured to detect the cleanliness of the products at the cleaning station, and the cleaning component (5) selectively continues to clean the products or the next product in the tray according to the detection value of the detection component (6); The automatic cleaning device further includes a pre-cleaning component (4), and the pre-cleaning component (4) includes: An ion air knife (41), arranged on one side of the cleaning station and capable of blowing air to the products in the tray; The pre-cleaning component (4) further includes: An exhaust fan (42) and an exhaust port (43), and the exhaust fan (42) adsorbs the gas blown out by the ion air knife (41) and the impurities blown off the products through the exhaust port (43).

2. The automatic cleaning device according to claim 1, wherein The ion air knife (41) and a plurality of the exhaust ports (43) surround the stage component (3) located at the cleaning station on all sides.

3. The automatic cleaning device according to claim 2, wherein, The pre-cleaning component (4) further includes: A first driving member (44), configured to drive the exhaust port (43) between the receiving station and the cleaning station to move up and down along the Z-axis direction, so that the exhaust port (43) between the receiving station and the cleaning station descends when the stage component (3) leaves the cleaning station and resets after the stage component (3) reaches the cleaning station.

4. The automatic cleaning device according to claim 1, wherein, The cleaning component (5) includes: A carbon dioxide spray head (51), configured to spray carbon dioxide to one of the products in the tray located at the cleaning station; and A three-axis module, the three-axis module includes an X-axis module (52), a Y-axis module (53), and a first Z-axis module (54), the X-axis module (52) is arranged on one side of the cleaning station, and the X-axis module (52) drives the Y-axis module (53) to move along the X-axis direction; the Y-axis module (53) drives the first Z-axis module (54) to move along the Y-axis direction, and the output end of the first Z-axis module (54) is connected with the carbon dioxide spray head (51) so that the carbon dioxide spray head (51) can move along the Z-axis direction.

5. The automatic cleaning device according to claim 4, wherein The detection component (6) includes: The detection CCD camera (61) is configured to take pictures of the same product before and after cleaning respectively and compare the pictures taken, so as to detect the cleanliness of the product; The second Z-axis module (62), the Y-axis module (53) drives the second Z-axis module (62) to move along the Y-axis direction, and the output end of the second Z-axis module (62) is connected with the detection CCD camera (61), so that the detection CCD camera (61) can move along the Z-axis direction.

6. The automatic cleaning device according to claim 1, wherein The carrier assembly (3) includes: A carrier (31), the carrier (31) includes a tray (311) and clamping jaws (33), a plurality of the clamping jaws (33) are arranged along the circumference of the tray (311), and the plurality of the clamping jaws (33) can approach each other to jointly clamp and fix the tray or move away from each other to release the tray; and A second driving member (32) and a third driving member, the second driving member (32) can drive the tray (311) to flow between the material receiving station, the adjustment station and the cleaning station; the third driving member can drive the tray (311) to rotate around its axis at the adjustment station.

7. The automatic cleaning device according to claim 6, wherein A plurality of adsorption holes are formed in the tray (311), and the tray is vacuum adsorbed through the adsorption holes to the tray transferred from the loading station to the material receiving station.

8. The automatic cleaning device according to claim 1, wherein The loading and unloading assembly (1) includes: A manipulator (11); A loading device, including a loading bin (12) and a first lifting driving member (14), a plurality of trays containing the products to be cleaned are stacked in the loading bin (12), and the first lifting driving member (14) drives the loading bin (12) to gradually rise, so that the manipulator (11) transfers the trays in the loading bin (12) to the material receiving station in sequence at the same picking height; and An unloading device, including an unloading bin (15) and a second lifting driving member (17), the second lifting driving member (17) drives the unloading bin (15) to gradually lower, so that the manipulator (11) transfers the trays containing the cleaned products to the material receiving station at the same discharging height and stacks them in the unloading bin (15) in sequence.

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