Full-automatic blind hole machining part cleaning and decontamination system and cleaning and decontamination method

Abstract

The present invention relates to a fully automatic cleaning system for blind hole machined parts, which includes a feeding device, a cleaning device, a discharging device and a manipulator. The workpiece positioning mechanism is used to accurately position the blind hole machined parts; the cleaning device is used to alternately clean the debris in the blind holes of the blind hole machined parts by spraying water and blowing air; the manipulator is used to grab the blind hole machined parts and move them. In the present invention, by alternately spraying water and blowing air on the blind hole machined parts, it is possible to better remove dirt such as aluminum chips in the blind holes. Through the accurate positioning of the blind hole machined parts, the cleaning process of the blind hole machined parts can be automatically completed; not only the production efficiency and safety are improved, but also the cleaning effect can be improved, and manpower is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of workpiece cleaning, and relates to a full-automatic blind hole processing workpiece cleaning system and a cleaning method. Background Art

[0002] In the production process, it is often necessary to use CNC to process a small and deep countersunk hole (i.e., blind hole 701) on a component of the equipment (i.e., blind hole processing part 700). The shape and opening position of the countersunk hole are as follows: Figure 1 In the process of opening the countersunk hole, a large amount of aluminum chips and other dirt will accumulate in the hole. If the aluminum chips in the hole cannot be completely removed, it may affect the subsequent assembly. In the prior art, it is generally necessary to first clean the blind hole workpiece 700 in a cleaning tank, and then the workers use an air gun to blow out the aluminum chips in the blind hole 701; however, it takes a long time to remove the aluminum chips, which not only wastes manpower and has low cleaning efficiency, but also makes the workers easily fatigued during long-term operation, and the cleaning effect cannot be guaranteed. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a fully automatic blind hole workpiece cleaning system and cleaning method with high cleaning efficiency and good cleaning effect.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A fully automatic blind hole processing part cleaning system, comprising:

[0006] A feeding device, comprising a first conveying mechanism, a feeding mechanism for feeding the blind hole workpiece to the first conveying mechanism, and a material grabbing and positioning mechanism for receiving and positioning the blind hole workpiece conveyed by the first conveying mechanism;

[0007] A cleaning device, comprising a cleaning positioning jig for positioning the blind hole workpiece and a cleaning mechanism for cleaning the blind holes on the blind hole workpiece by alternately spraying water and blowing air;

[0008] a discharging device, comprising a receiving mechanism for receiving the blind hole workpiece cleaned by the cleaning mechanism, a discharging mechanism, and a second conveying mechanism formed between the receiving mechanism and the discharging mechanism; and

[0009] The robot arm is used to grab the blind hole processed part at the position of the material grabbing and positioning mechanism to the dirt cleaning and positioning fixture, and is also used to grab the blind hole processed part at the dirt cleaning and positioning fixture to the material receiving mechanism.

[0010] Furthermore, the blind hole workpiece is placed in a tray;

[0011] The feeding mechanism is used to deliver the pallet with the blind hole processed parts to the first conveying mechanism, and the first conveying mechanism delivers the pallet with the blind hole processed parts to the material grabbing and positioning mechanism, and the material grabbing and positioning mechanism positions the pallet;

[0012] The manipulator is used to grab the blind hole processing parts in the tray to the cleaning and positioning fixture for cleaning, and grab the empty tray at the position of the material grabbing and positioning mechanism to the position of the material receiving mechanism before the cleaning is completed; the manipulator is also used to grab the blind hole processing parts at the position of the cleaning and positioning fixture to the empty tray located at the position of the material receiving mechanism after the blind hole processing parts are cleaned;

[0013] The material receiving mechanism is used to restrict the movement of the empty tray, and is also used to release the restriction on the tray after the blind hole workpiece is placed in the empty tray;

[0014] The second conveying mechanism is used to convey the unrestricted pallet to the position of the discharge mechanism.

[0015] Furthermore, it also includes a workpiece positioning mechanism; the robot is also used to grab the blind hole workpiece at the position of the material grabbing and positioning mechanism to the workpiece positioning mechanism for pre-cleaning positioning, and the robot is also used to grab the blind hole workpiece at the workpiece positioning mechanism to the contamination cleaning positioning fixture after the pre-cleaning positioning is completed.

[0016] Furthermore, the feeding mechanism is arranged at the first end position of the first conveying mechanism; the feeding mechanism includes a feeding rack arranged above the first end of the first conveying mechanism, a feeding channel penetrating the feeding rack in a vertical direction, a first lifting mechanism arranged below the first end of the first conveying mechanism, and a first clamping mechanism for clamping the pallet, the first clamping mechanism includes at least one group of two clamping members arranged opposite to each other, the bottom surfaces of the two clamping members are higher than the upper surface of the first conveying mechanism, and the distance between the bottom surfaces of the two clamping members and the upper surface of the first conveying mechanism is greater than the height of at least one pallet; when the pallet is loaded into the feeding channel, the top holding surface of the first lifting mechanism is higher than the upper surface of the first conveying mechanism to serve as the bottom supporting surface of the feeding channel; when a pallet of the bottom layer is sent to the first conveying mechanism, the first clamping mechanism clamps the pallet located above a pallet of the bottom layer, and the first lifting mechanism moves down to below the upper surface of the first conveying mechanism, and the pallet of the bottom layer naturally falls onto the first conveying mechanism.

[0017] Furthermore, the material grabbing and positioning mechanism is arranged at the second end position of the first conveying mechanism, and the material grabbing and positioning mechanism includes a first stop unit arranged at the second end position of the first conveying mechanism and a first positioning unit for positioning the pallet moved to the position of the first stop unit.

[0018] Furthermore, the material receiving mechanism includes a second stop unit which is arranged at the second end position of the second conveying mechanism and can extend above the upper surface of the second conveying mechanism and be reset, and a second positioning unit for positioning the pallet at the position of the second stop unit; the second stop unit is close to the second end of the second conveying mechanism, and the distance between the second stop unit and the second end is greater than the size of the pallet in the corresponding direction.

[0019] Furthermore, the discharging mechanism is arranged at the first end position of the second conveying mechanism; the discharging mechanism includes a discharging rack arranged above the first end of the second conveying mechanism, a discharging channel penetrating the discharging rack along the vertical direction, a third stop unit arranged at the first end position of the second conveying mechanism, a second lifting mechanism arranged below the second conveying mechanism, and a movable support part under a tray that can move into the bottom layer; the lower surface of the movable support part is higher than the upper surface of the second conveying mechanism, and the distance between the movable support part and the second conveying mechanism is greater than the height of at least one tray; when the tray on the second conveying mechanism is loaded into the discharging channel, The second conveying mechanism conveys the pallet to the position directly below the discharging channel, the third stop unit stops the pallet at the position directly below the discharging channel, the second lifting mechanism pushes the pallet upward at the position directly below, the movable support part withdraws from the discharging channel, and the second lifting mechanism continues to push the pallet upward, so that the pallet enters the discharging channel; when the pallet is in the discharging channel and is higher than the movable support part, the movable support part enters the discharging channel to support the pallet in the discharging channel, and the second lifting mechanism moves down and resets to below the upper surface of the second conveying mechanism.

[0020] Furthermore, the cleaning mechanism includes a cleaning needle, a driving mechanism for driving the cleaning needle to freely enter and exit the blind hole in the blind hole workpiece, a cleaning pipe, a first control valve for controlling the water flow in the cleaning pipe, an air blowing pipe, and a second control valve for controlling the air flow in the air blowing pipe, the first control valve and the second control valve are both electrically connected to the controller; one end of the cleaning pipe and the air blowing pipe are both connected to the input end of the cleaning needle, and the other ends of the cleaning pipe and the air blowing pipe are respectively connected to a water source and an air source.

[0021] Furthermore, the controller is used to control the driving mechanism to drive the cleaning needle to extend into the blind hole after the blind hole workpiece is positioned on the cleaning positioning fixture, and to control the driving mechanism to drive the cleaning needle to gradually move out of the blind hole during the cleaning process;

[0022] The controller is also used to control the first control valve to open when the cleaning needle is inserted into the blind hole so that the cleaning water source is sprayed into the blind hole through the cleaning needle; the controller is also used to record the cleaning time when the first control valve is opened, and control the first control valve to close after the cleaning time reaches a preset cleaning time;

[0023] The controller is also used to control the second control valve to open after the first control valve is closed so that the gas source is blown into the blind hole through the cleaning needle; the controller is also used to record the blowing time when the second control valve is opened, and control the second control valve to close after the blowing time reaches a preset blowing time;

[0024] The controller is also used to control the first control valve and the second control valve to open and close according to a preset number of alternations, so that the cleaning mechanism cleans the blind hole alternately by spraying water and blowing air according to the preset number of alternations.

[0025] A fully automatic blind hole processing part cleaning method comprises the following steps:

[0026] Controlling the feeding mechanism to deliver the blind hole workpiece to the first conveying mechanism, and controlling the first conveying mechanism to deliver the blind hole workpiece to a material grabbing area, wherein the material grabbing area has a device for positioning the blind hole workpiece delivered from the first conveying mechanism;

[0027] Controlling the manipulator to grab the blind hole workpiece at the grabbing area and transfer it to the cleaning and positioning fixture;

[0028] Control the cleaning mechanism to alternately spray water and blow air to clean the blind holes of the blind hole processing parts at the cleaning positioning fixture;

[0029] Controlling the manipulator to grab the cleaned blind hole workpiece and transfer it to a receiving area, wherein the receiving area has a receiving mechanism for limiting the movement of the blind hole workpiece;

[0030] The receiving mechanism is controlled to release the restriction to allow the blind hole workpiece to enter the second conveying mechanism, and the second conveying mechanism is controlled to convey the blind hole workpiece to the discharging area, wherein the discharging area has a discharging mechanism for discharging the blind hole workpiece.

[0031] In the present invention, water spraying and air blowing are alternately performed on the blind hole workpiece, and the cleaning needle is gradually moved outside the blind hole during the water spraying and air blowing process, so that aluminum chips and other dirt in the blind hole can be removed well. Through the precise positioning of the blind hole workpiece and the tray, the transmission process and the cleaning process of the blind hole workpiece can be automatically completed; a new technology for cleaning such products is created, which not only improves production efficiency and safety, but also improves the cleaning effect and saves manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0033] Figure 1 A schematic diagram of opening a countersunk hole on a CNC equipment component.

[0034] Figure 2 It is a structural schematic diagram of a preferred embodiment of the fully automatic blind hole processing workpiece cleaning system of the present invention.

[0035] Figure 3 It is a structural schematic diagram of the feeding device.

[0036] Figure 4 It is a structural schematic diagram of the workpiece positioning mechanism.

[0037] Figure 5 This is a schematic diagram of the structure of the pollution removal device.

[0038] Figure 6 It is a structural schematic diagram of the positioning fixture and cleaning device.

[0039] Figure 7 It is a schematic diagram of the structure of the discharging device.

[0040] Figure 8 for Figure 7 Enlarged view of point A in the middle.

[0041] Fig. 9 The figure is a flow chart of a preferred embodiment of the fully automatic blind hole processing workpiece cleaning method of the present invention.

[0042] Fig.10 This is a sub-flow chart of step S101.

[0043] Fig.11 This is a sub-flow chart of step S102.

[0044] Fig.12 This is a sub-flow chart of step S103.

[0045] Fig.13 This is a sub-flow chart of step S104.

[0046] In the figure: 100. Feeding device, 101. First conveying mechanism, 102. First frame, 111. Clamping member, 112. First material ejecting mechanism, 113. First stand, 114. Feeding channel, 115. First mounting seat, 121. First baffle, 122. Grabbing material detection unit, 123. First positioning cylinder, 200. Workpiece positioning mechanism, 201. Support frame, 202. Positioning table, 203. First fixing rod, 204. Secondary positioning cylinder, 205. Second fixing rod, 300. Cleaning device, 301. Cleaning bracket, 302. Cleaning chamber, 303. Automatic lifting door, 304. Safety grating, 305. Jig table, 306. Water tank, 311. Cleaning positioning cylinder, 312. Cleaning Suction cup, 313. third fixed rod, 321. driving mechanism, 322. cleaning needle, 323. guide block, 400. discharging device, 401. second conveying mechanism, 402. second frame, 411. material blocking cylinder, 412. second baffle, 413. material receiving detection unit, 414. second positioning cylinder, 421. second material ejecting mechanism, 422. second stand, 423. third baffle, 424. loose-leaf, 425. limit plate, 426. discharging channel, 427. second mounting seat, 501. fixed seat, 502. front end of the robot arm, 511. fixed bracket, 512. blister suction cup, 513. workpiece suction cup, 600. tray, 700. blind hole processing part, 701. blind hole, 900. controller. DETAILED DESCRIPTION

[0047] The following describes the implementation methods of the present invention through specific examples. The illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0048] like Figure 2As shown, a preferred embodiment of the fully automatic blind hole processing part cleaning system of the present invention includes a feeding device 100, a cleaning device 300, a discharging device 400 and a manipulator. Of course, the cleaning system may also include a controller 900, and the feeding device 100, the cleaning device 300, the discharging device 400 and the manipulator are all electrically connected to the controller 900. The feeding device 100 includes a first conveying mechanism 101, a feeding mechanism for delivering the blind hole processing part 700 to the first conveying mechanism 101, and a material grabbing and positioning mechanism for receiving the blind hole processing part 700 transmitted by the first conveying mechanism 101. The cleaning device 300 includes a cleaning and positioning fixture for positioning the blind hole processing part 700 and a cleaning mechanism for cleaning the blind hole 701 on the blind hole processing part 700 by alternately spraying water and blowing air. The discharging device 400 includes a receiving mechanism for receiving the blind hole processed part 700 cleaned by the cleaning mechanism, a discharging mechanism, and a second conveying mechanism 401 formed between the receiving mechanism and the discharging mechanism. The manipulator is used to grab the blind hole processed part 700 at the position of the grabbing and positioning mechanism to the cleaning and positioning fixture, and is also used to grab the blind hole processed part 700 at the cleaning and positioning fixture to the empty tray 600 at the receiving mechanism.

[0049] In order to facilitate the movement of blind hole processing parts and protect the blind hole processing parts 600 from damage, the blind hole processing parts 700 can be placed in the tray 600. During the transmission process, the blind hole processing parts 700 are moved to the destination position by transmitting the tray 600. The various components of the transmission device do not directly contact the blind hole processing parts 700 to prevent the blind hole processing parts from being damaged. In this specific embodiment, the cleaning device cleans one blind hole processing part at a time, so one blind hole processing part is placed in one tray 600. As an alternative, a cleaning device that can clean several blind hole processing parts at a time can be used, so that multiple blind hole processing parts can be placed on one tray, or one processing part can still be placed on one tray. When the first transmission mechanism 101 is transmitting, multiple trays are transmitted to the material receiving mechanism (material receiving area).

[0050] The fully automatic blind hole processing part cleaning system of the present invention, when cleaning the blind hole processing part, firstly puts a plurality of stacked trays 600 with blind hole processing parts 700 placed thereon into the feeding mechanism, and the feeding mechanism sends the tray 600 to the first conveying mechanism 101 according to the cleaning progress of the cleaning device, and the first conveying mechanism 101 sends the tray 600 to the grabbing and positioning mechanism in the grabbing area, and the grabbing and positioning mechanism positions the tray 600; the manipulator grabs the blind hole processing part 700 in the tray 600 and positions it at the cleaning positioning fixture, and the cleaning mechanism cleans the blind hole processing part 700 at the cleaning positioning fixture. During the cleaning process, the robot grabs the empty pallet 600 at the position of the material grabbing and positioning mechanism to the position of the material receiving mechanism in the material receiving area, and limits the movement of the empty pallet 600 through the material receiving mechanism; after the cleaning is completed, the robot grabs the blind hole processed part 700 at the position of the cleaning and positioning fixture to the empty pallet 600 located at the position of the material receiving mechanism; the material receiving machine releases the restriction on the pallet 600, and the pallet 600 enters the second conveying mechanism 401 from the material receiving mechanism, and the second conveying mechanism conveys the pallet 600 to the position of the discharging mechanism.

[0051] like Figure 3 As shown, the first conveying mechanism 101, the feeding mechanism and the material grabbing and positioning mechanism are all arranged on the first frame 102. The first conveying mechanism 101 is arranged on the first frame 102 along the length direction of the first frame 102. The first conveying mechanism 101 can adopt any structure for conveying objects, such as a conveyor belt, a conveying trolley moving along the length direction of the first frame 102, etc. In this specific embodiment, the first conveying mechanism 101 uses a conveyor belt to convey the tray 600.

[0052] The feeding mechanism is arranged at the first end of the first conveying mechanism 101. The feeding mechanism includes a feeding rack arranged above the first end of the first conveying mechanism 101, a feeding channel 114 vertically penetrating the feeding rack, a first lifting mechanism 112 arranged below the first end of the first conveying mechanism 101, and a first clamping mechanism for clamping the tray 600.

[0053] The feed rack includes a plurality of first upright frames 113 enclosed together according to the shape of the tray 600, and the space enclosed by the plurality of first upright frames 113 forms the feed channel 114. In the present specific embodiment, the tray 600 is a rectangular tray, so the feed rack can be enclosed by four first upright frames 113, two of which are arranged at intervals along the length direction of the first frame 102 at the first end of one lateral side of the first frame 102, and the other two are arranged at intervals along the length direction of the first frame 102 at the first end of the other lateral side of the first frame 102. The upper end of each first upright frame 113 is curved upward and outward to form an arc surface, and the upper ends of the four first upright frames 113 are curved outward to form a trumpet-shaped opening that is wide at the top and narrow at the bottom. The trumpet-shaped opening makes it easier to place the tray 600 into the feed channel 114. Each of the first uprights 113 is an L-shaped upright with an L-shaped cross section, so that the tray 600 can be limited in the feed channel 114 from all directions, so that the tray 600 can only move vertically. In this embodiment, the first uprights 113 are all installed on the first frame 102 through a first mounting seat 115, specifically, the outer side of the first upright 113 is installed and connected to the inner side of the first mounting seat 115, and the first frame 102 installed on the first mounting seat 115 has a lower end surface higher than the upper surface of the first conveying mechanism 101 (the upper surface of the conveyor belt), and the first three-dimensional body is at least higher than the height of a tray 600, so that the bottom of the feed frame forms a discharge port on the side facing the conveying direction of the first conveying mechanism 101. When the tray 600 falls from the feed channel 114 to the first transmission mechanism, it leaves the feed channel 114 from the discharge port under the conveyance of the first conveying mechanism 101. In some embodiments, the two first vertical frames 113 near the second end of the first frame 102 can also form L-shaped notches at their lower ends on the sides near the second end of the first frame 102, and the distance between the two L-shaped notches needs to be larger than the size of the tray 600 in the corresponding direction, and the space between the two L-shaped notches forms the discharge port.

[0054] The first clamping mechanism includes at least one set of two clamping members 111 arranged opposite to each other, and the two clamping members 111 can be pushed by two cylinders to clamp the tray 600. The bottom surfaces of the two clamping members 111 are higher than the upper surface of the first conveying mechanism 101 (specifically, the surface in contact with the tray 600 for conveying and carrying the tray 600), and the distance between the bottom surfaces of the two clamping members 111 and the upper surface of the first conveying mechanism 101 is greater than the height of at least one tray 600. In this specific embodiment, since the cleaning device cleans one blind hole workpiece at a time, only one tray needs to be conveyed each time, so the distance between the bottom surfaces of the two clamping members 111 and the upper surface of the first conveying mechanism 101 is greater than the height of one tray 600, so that the two clamping members 111 clamp a tray 600 of the second bottom layer, and a tray 600 of the bottom layer falls onto the first conveying mechanism 101. In this specific embodiment, when the tray 600 is loaded into the feed channel 114, the top holding surface of the first lifting mechanism 112 is higher than the upper surface of the first conveying mechanism 101 to serve as the bottom supporting surface of the feed channel 114; when a tray 600 of the bottom layer is sent to the first conveying mechanism 101, the first clamping mechanism clamps the tray 600 located above the tray 600 of the bottom layer, and the first lifting mechanism 112 moves down to below the upper surface of the first conveying mechanism 101, and the tray 600 of the bottom layer naturally falls onto the first conveying mechanism 101.

[0055] The material grabbing and positioning mechanism is arranged at the second end position (material grabbing area) of the first conveying mechanism 101, and the material grabbing and positioning mechanism includes a first stop unit arranged at the second end position of the first conveying mechanism 101, and a first positioning unit for positioning the tray 600 moved to the position of the first stop unit. The first stop unit is preferably a first baffle plate vertically arranged at the second end of the first conveying mechanism 101, and the first positioning unit preferably includes two first positioning cylinders 123 respectively arranged on both sides of the conveying direction of the first conveying mechanism 101. In order to make the fully automatic blind hole workpiece cleaning system more automated, a grabbing detection unit 122 is provided in the grabbing area for sensing whether there is a pallet 600 in the grabbing area. When there is a pallet in the grabbing area, the grabbing detection unit 122 sends a first pallet sensing signal to the controller 900. The controller 900 controls the first positioning unit to position the pallet 600 according to the first pallet sensing signal, and controls the robot to first grab the blind hole workpiece in the pallet 600 and transfer it to the cleaning jig table, and then grab the empty pallet 600 and transfer it to the receiving mechanism at the second end position (receiving area) of the second conveying mechanism 401, so that the empty pallet waits in the receiving area for the blind hole workpiece 700 after cleaning.

[0056] like Figure 4 As shown, in order to prevent the robot from placing the blind hole workpiece 700 outside the positioning range of the cleaning positioning fixture, which causes the cleaning positioning fixture to be unable to accurately position the blind hole workpiece 700, the cleaning system may also include a workpiece positioning mechanism; the robot first grabs the blind hole workpiece 700 at the position of the material grabbing positioning mechanism to the workpiece positioning mechanism for pre-cleaning positioning, and when the cleaning positioning is completed, grabs the blind hole workpiece 700 at the workpiece positioning mechanism to the cleaning positioning fixture. The workpiece positioning mechanism 200 preferably includes a support frame 201, on which a positioning platform 202 is provided, and two adjacent sides of the positioning platform 202 are respectively provided with first fixing rods 203, and the other two sides of the positioning platform 202 are respectively provided with secondary positioning cylinders 204, and the output end of each of the secondary positioning cylinders 204 is respectively provided with two second fixing rods 205 extending vertically upward.

[0057] like Figure 5 and Figure 6 As shown, the cleaning device 300 may also include a cleaning bracket 301, and a cleaning chamber 302 is provided on the cleaning bracket 301, and the cleaning chamber 302 is provided with an opening. For the convenience of operation, an opening may be provided on both the front and rear sides of the cleaning chamber 302, or only on the front side. Automatic lifting doors 303 are provided at the openings, and safety gratings 304 are provided on both sides of the automatic lifting door 303. When the safety gratings 304 on both sides of the automatic lifting door 303 detect an object, the automatic lifting door 303 will be prohibited from moving to avoid the automatic lifting door 303 closing and pinching the operator when the worker is operating.

[0058] The cleaning jig includes a jig table 305, third fixing rods 313 provided on two adjacent sides of the jig table 305, and cleaning positioning cylinders 311 provided on the other two adjacent sides of the jig table 305. Preferably, two third fixing rods 313 or cleaning positioning cylinders 311 are provided on each side of the jig table 305. In order to make the fully automatic blind hole workpiece cleaning system more automated, a detection unit for detecting whether the blind hole workpiece 700 has reached the jig table 305 is also provided at the position of the jig table 305.

[0059] In order to prevent the blind hole processing part 700 from jumping during the cleaning process, a plurality of cleaning suction cups 312 may be embedded on the jig table 305, preferably six cleaning suction cups 312; the cleaning suction cups 312 are connected to the third air suction control valve through an air guide tube; the third air suction control valve is connected to a negative pressure device, and the cleaning positioning cylinder 311 and the third air suction control valve are both electrically connected to the controller 900. When the blind hole processing part 700 arrives at the jig table 305, the detection unit sends a detection signal to the controller 900, and the controller 900 controls the cleaning positioning cylinder 311 to position the blind hole processing part 700 and controls the third air suction control valve to open to absorb the blind hole processing part according to the received detection signal. When the blind hole workpiece 700 is cleaned, the controller 900 controls the cleaning positioning cylinder 311 to reset and controls the third air suction control valve to close, so that the blind hole workpiece 700 can be grasped by the robot and left the fixture table 305 .

[0060] The cleaning mechanism preferably includes a cleaning needle 322, a driving mechanism 321 for driving the cleaning needle 322 to freely enter and exit the blind hole 701 in the blind hole processing part 700, a cleaning pipeline (not shown in the figure), a first control valve (not shown in the figure) for controlling the water flow in the cleaning pipeline, an air blowing pipeline (not shown in the figure), and a second control valve (not shown in the figure) for controlling the air flow in the air blowing pipeline, wherein the first control valve and the second control valve are both electrically connected to the controller. The driving mechanism 321 can be a multi-position cylinder or a stepping motor. A guide block 323 can be provided between the driving mechanism 321 and the position corresponding to the blind hole 701, and the cleaning needle 322 passes through the guide block 323. Through the guiding effect of the guide block 323, it can be ensured that the cleaning needle 322 can be extended into the blind hole 701 of the blind hole processing part 700 without deviation. One end of the cleaning pipeline and the air blowing pipeline are both connected to the input end of the cleaning needle 322, and the other ends of the cleaning pipeline and the air blowing pipeline are respectively connected to the water source and the air source. Preferably, the cleaning pipe is connected to a water pump, and the water pump is placed in the water tank 306 to form a water source, and the blowing pipe is connected to an air pump as an air source.

[0061] In order to reuse the cleaned sewage, a water outlet (not shown in the figure) can also be set at the bottom of the cleaning chamber 302, and a water outlet pipe (not shown in the figure) is connected to the water outlet, and one end of the water outlet pipe is extended into the water tank 306, and a filtering device (not shown in the figure) is connected to the extended end of the water outlet pipe, so that the cleaned sewage is filtered and returned to the water tank 306.

[0062] The controller is used to control the driving mechanism (such as a cylinder, a hydraulic cylinder, etc.) to drive the cleaning needle 322 to extend into the blind hole 701 after the blind hole workpiece 700 is positioned on the cleaning positioning fixture, and to control the driving mechanism to drive the cleaning needle 322 to gradually move out of the blind hole 701 during the cleaning process. The controller is also used to control the first control valve to open when the cleaning needle 322 extends into the blind hole 701 so that the cleaning water source is sprayed into the blind hole 701 through the cleaning needle 322; the controller is also used to record the cleaning time when the first control valve is opened, and control the first control valve to close after the cleaning time reaches the preset cleaning time. The controller is also used to control the second control valve to open after the first control valve is closed so that the air source is blown into the blind hole 701 through the cleaning needle 322; the controller is also used to record the blowing time when the second control valve is opened, and control the second control valve to close after the blowing time reaches the preset blowing time. The controller is also used to control the first control valve and the second control valve to open and close according to a preset number of alternations, so that the cleaning mechanism cleans the blind hole 701 alternately by spraying water and blowing air according to the preset number of alternations.

[0063] The specific principle of the cleaning mechanism for cleaning the debris in the blind hole 701 of the blind hole processing part 700 is as follows:

[0064] The controller causes the driving mechanism 321 to drive the cleaning needle 322 to extend into the bottom area of ​​the corresponding blind hole 701 of the blind hole workpiece 700; the controller controls the first control valve to open, and causes the water pump to work to spray water into the blind hole 701, so that the debris in the blind hole 701 is soaked and moistened; the controller closes the first control valve and opens the second control valve after a predetermined interval, and causes the air pump to work at the same time to blow air into the blind hole 701 to blow the debris out of the blind hole 701. Since the size of the blind hole 701 is very small, the extended portion of the cleaning needle 322 will block the debris, resulting in that the debris cannot be completely removed. Therefore, the controller also causes the driving mechanism 321 to drive the cleaning needle 322 to gradually move outside the blind hole 701 to avoid the extended portion of the cleaning needle 322 blocking the debris, and repeatedly switches the water spraying state and the air blowing state during the movement, preferably three times of water spraying and air blowing; thereby, the debris in the blind hole 701 is completely removed.

[0065] like Figure 7As shown, the second conveying mechanism 401, the discharging mechanism and the receiving mechanism are all arranged on the second frame 402. The second conveying mechanism 401 is arranged on the second frame 402 along the length direction of the second frame 402. The second conveying mechanism 401 can adopt any structure for conveying objects, such as a conveyor belt, a conveying trolley moving along the length direction of the second frame 402, etc. In this specific embodiment, the second conveying mechanism 401 uses a conveyor belt to convey the tray 600.

[0066] The receiving mechanism is arranged at the second end position (receiving area) of the second conveying mechanism 401, and the receiving mechanism includes a second stop unit arranged at the second end position of the second conveying mechanism 401 and capable of extending above the upper surface of the second conveying mechanism 401 and resetting, and a second positioning unit for positioning the tray 600 at the position of the second stop unit. The second stop unit is close to the second end of the second conveying mechanism 401, and the distance between the second stop unit and the second end is greater than the size of the tray 600 in the corresponding direction. The second stop unit preferably includes a material blocking cylinder 411 vertically arranged on one side facing the conveying direction of the second conveying mechanism 401, and the output end of the material blocking cylinder 411 is provided with a second baffle 412, and when the output end of the material blocking cylinder 411 extends upward, the second baffle 412 emerges from the upper end surface of the second conveying mechanism 401. The second positioning unit preferably includes second positioning cylinders 414 respectively arranged on both sides of the conveying direction of the second conveying mechanism 401. In order to make the fully automatic blind hole workpiece cleaning system more automated, a material receiving detection unit 413 is provided at the material receiving area for sensing whether there is a pallet 600 in the material receiving area. When the material receiving area has a pallet 600, the material receiving detection unit 413 sends a second pallet sensing signal to the controller 900, so that the controller 900 positions the pallet 600 through the second positioning unit.

[0067] The discharging mechanism is arranged at the first end of the second conveying mechanism 401; the discharging mechanism includes a discharging frame 422 arranged above the first end of the second conveying mechanism 401, a discharging channel 426 penetrating the discharging frame 422 along the vertical direction, a third stop unit arranged at the first end of the second conveying mechanism 401, a second lifting mechanism 421 arranged below the second conveying mechanism 401, and a movable support under a tray 600 that can move into the bottom layer. In order to make the fully automatic blind hole workpiece cleaning system more automated, the discharging mechanism also includes a tray discharging sensing unit (not shown in the figure) that sends a tray discharging signal to the controller 900 when the tray 600 is located directly below the discharging channel 426.

[0068] The discharging rack includes a plurality of second upright frames 422 enclosed together according to the shape of the tray 600, and the space enclosed by the plurality of second upright frames 422 forms the discharging channel 426. The discharging rack can be enclosed by four second upright frames 422, two of which are arranged at intervals along the length direction of the second frame 402 at the first end of one lateral side of the second frame 402, and the other two are arranged at intervals along the length direction of the second frame 402 at the first end of the other lateral side of the second frame 402. The lower end of each second upright frame 422 is bent downward and outward to form an arc surface, and the upper ends of the four second upright frames 422 are bent outward to form a trumpet shape with a narrow upper part and a wide lower part, which makes it easier for the second ejecting mechanism 421 to send the tray 600 upward into the discharging channel 426. Each second upright frame 422 is an L-shaped upright frame with an L-shaped cross section, so that the tray 600 can be limited in the discharging channel 426 from all directions, so that the tray 600 can only move vertically. In this embodiment, the second stand 422 is mounted on the second frame 402 through a second mounting seat 427, specifically, the outer side of the second stand 422 is mounted on the inner side of the second mounting seat 427, and the lower end surface of the second stand 422 mounted on the second mounting seat 427 is higher than the upper surface of the second conveying mechanism 401 (the upper surface of the conveyor belt), and the second stand 422 is at least higher than the height of a tray 600, so that the bottom of the discharge rack forms a feed port on the side facing the receiving mechanism, and when the tray 600 is transferred from the receiving mechanism to the discharge mechanism, it enters the discharge channel 426 from the feed port under the transfer of the second conveying mechanism 401. In some embodiments, the two second stands 422 near the second end of the second frame 402 can also form L-shaped notches at their lower ends near the side of the second end of the second frame 402, and the spacing between the two L-shaped notches needs to be greater than the size of the tray 600 in the corresponding direction, and the space between the two L-shaped notches forms the feed port.

[0069] The lower surface of the movable support part is higher than the upper surface of the second conveying mechanism 401, and the distance between the movable support part and the second conveying mechanism 401 is greater than the height of at least one pallet 600; when the pallet 600 on the second conveying mechanism 401 is loaded into the discharge channel 426, the second conveying mechanism 401 conveys the pallet 600 to the position directly below the discharge channel 426, and the second lifting mechanism 421 lifts the pallet 600 at the position directly below upward, so that the movable support part withdraws from the discharge channel 426, and at the same time, the second lifting mechanism 421 continues to lift the pallet 600 upward, so that the pallet 600 enters the discharge channel 426; when the pallet 600 is located in the discharge channel 426 and is higher than the movable support part, the movable support part enters the discharge channel 426 to support the pallet 600 in the discharge channel 426, and the second lifting mechanism 421 moves down and resets to below the upper surface of the second conveying mechanism 401.

[0070] like Figure 8 As shown, in a specific example, the movable support part includes four horizontally arranged hinges 424, one end of the hinge 424 is fixed, and the other end extends into the discharge channel 426, and the extended end of the hinge 424 can be turned upward; a limit plate 425 is also provided above the rotating shaft of the hinge 424 to limit the turning range of the extended end of the hinge 424 to less than 90°. When the second lifting mechanism 421 pushes the tray 600 at the bottom of the discharge channel 426 to move upward, the two sides of the tray 600 respectively abut against the lower end surfaces of the extended ends of the four hinges 424, and push the extended ends of the hinges 424 to turn upward. After the tray 600 continues to move upward for a distance, the tray 600 is separated from the extended ends of the hinge 424, and the extended ends of the hinge 424 turn downward to restore the horizontal state, thereby forming a block for the tray 600 of the discharge channel 426. When the output end of the second ejecting mechanism 421 is retracted, the tray 600 is placed on the protruding end of the hinge 424, so that the trays 600 can be stacked.

[0071] Please refer to Figure 2 , Figure 3 and Figure 7 The manipulator preferably includes a fixing seat 501, a mechanical arm (not shown in the figure) connected to the fixing seat 501, and a grasping device arranged at the front end 502 of the mechanical arm. Since the mechanical arm of the manipulator is a conventional component in the prior art, Figure 2 Only the setting position of the fixing seat 501 of the manipulator is shown. Figure 3Only the structure of the front end 502 of the robot arm and the grasping device is shown, and the specific structure of the robot arm is not shown. The grasping device preferably includes a fixed bracket 511, and one end of the fixed bracket 511 is provided with a plurality of blister suction cups 512 at the edge position corresponding to the tray 600, preferably two blister suction cups 512 are provided at the two side edges corresponding to the tray 600. The four blister suction cups 512 are all connected to the first suction control valve through an air guide tube, and the four blister suction cups 512 can be connected to the same first suction control valve; of course, the four blister suction cups 512 can also be connected to a first suction control valve respectively. The other end of the fixed bracket 511 is provided with a plurality of workpiece suction cups 513 at the position corresponding to the blind hole processing part 700, preferably four workpiece suction cups 513 are provided, and the four workpiece suction cups 513 are all connected to the second suction control valve through an air guide tube. The first suction control valve and the second suction control valve are both connected to a negative pressure device. The first suction control valve and the second suction control valve can respectively control the blister suction cup 512 and the workpiece suction cup 513. Since factories are generally equipped with negative pressure pipelines to provide negative pressure, the negative pressure device can be the negative pressure pipeline of the factory. Of course, when there is no negative pressure pipeline, a small vacuum pump can also be set as the negative pressure device.

[0072] The working principle of this embodiment is as follows:

[0073] like Figures 1 to 8 As shown, after the blind hole 701 is opened in the blind hole workpiece 700, each blind hole workpiece 700 is placed in a tray 600, and the trays 600 are stacked together and placed in the feed channel 114 of the feeding device 100. During operation, the output ends of the clamping members 111 on both sides of the feed channel 114 extend out and hold the second tray 600 at the bottom, and then the output end of the first lifting mechanism 112 is retracted to place the first tray 600 at the bottom on the first conveying mechanism 101. The tray 600 on the first conveying mechanism 101 is conveyed to the second end of the first conveying mechanism 101, abuts against the first baffle 121 and stops conveying. At this time, the material grabbing detection unit 122 detects the tray 600, so that the output end of the first positioning cylinder 123 extends out and abuts against the two sides of the tray 600, thereby positioning the tray 600. The robot arm moves the grasping device to above the grasping and positioning mechanism, so that the four workpiece suction cups 513 face downward to suck the blind hole workpiece 700 and take it out from the placement slot of the tray 600. After that, the robot arm flips the fixed bracket 511 180°, so that the four blister suction cups 512 face downward to suck the tray 600 and take the tray 600 out from the second end of the first conveying mechanism 101 after the output ends of the two first positioning cylinders 123 retract.

[0074] After placing the first tray 600 at the bottom on the first conveying mechanism 101, the output end of the first material-lifting mechanism 112 extends again after a predetermined time interval, so that the output end of the first material-lifting mechanism 112 holds the tray 600 at the bottom of the current feed channel 114 (i.e., the second tray 600 at the bottom of the previous feed channel 114), and then the output end of the clamping member 111 retracts; then, the output end of the first material-lifting mechanism 112 retracts by a distance of about the thickness of a tray 600, and the output end of the clamping member 111 extends again and holds the second tray 600 at the bottom of the current feed channel 114. After the material-grabbing detection unit 122 detects that the tray 600 at the second end of the first conveying mechanism 101 is taken out, the output end of the first material-lifting mechanism 112 continues to retract, and the tray 600 at the bottom of the current feed channel 114 is placed on the first conveying mechanism 101 and conveyed to the material-grabbing area, so as to realize the distribution of the trays 600 in the feed channel 114.

[0075] Although the material grabbing and positioning mechanism has positioned the pallet 600, the placement slot of the pallet 600 is slightly larger than the blind hole workpiece 700, so the first positioning cylinder 123 cannot accurately position the blind hole workpiece 700 in the pallet 600. At this time, the manipulator first places the blind hole workpiece 700 on the positioning table 202 of the workpiece positioning mechanism 200, and then the two secondary positioning cylinders 204 retract, and the second fixed rod 205 connected to its output end abuts against the blind hole workpiece 700 during the retraction process, and pushes the blind hole workpiece 700 to abut against the first fixed rod 203, and the accurate positioning of the blind hole workpiece 700 is achieved through the cooperation of the four first fixed rods 203 and the four second fixed rods 205. During this process, the robot will also place the grasped tray 600 at the position of the material receiving mechanism, and then return to the workpiece positioning mechanism 200 to grasp the positioned blind hole workpiece 700. After the output end of the secondary positioning cylinder 204 is extended again, the blind hole workpiece 700 is moved to the cleaning device 300 and placed on the jig table 305.

[0076] Since the blind hole workpiece 700 has been precisely positioned in the workpiece positioning mechanism 200, the manipulator can place the blind hole workpiece 700 on the fixture table 305 relatively accurately according to the cleaning position. After the blind hole workpiece 700 is placed, the front end 502 of the manipulator arm is withdrawn from the cleaning chamber 302, and the automatic lifting door 303 moves downward to close the opening of the cleaning chamber 302. After that, the output end of the cleaning positioning cylinder 311 extends out and abuts against the corresponding side edges of the blind hole workpiece 700 respectively, and pushes the blind hole workpiece 700 to abut against the third fixing rod 313, thereby further positioning the blind hole workpiece 700, so that the cleaning needle 322 is aligned with the blind hole 701 of the blind hole workpiece 700. After that, the six cleaning suction cups 312 firmly suck the blind hole workpiece 700 on the fixture table 305, and the two driving mechanisms 321 make the two cleaning needles 322 extend into the two blind holes 701 of the blind hole workpiece 700 respectively. Then, the first control valve is opened, and the water pump starts to work, pumping out the water in the water tank 306 and spraying it into the blind hole 701 through the cleaning needle 322. Since the needle of the cleaning needle 322 is very thin, it can generate a large impact force when spraying water, which is convenient for the aluminum chips to be separated from the hole wall; for the aluminum chips that cannot be separated from the hole wall, soaking can also reduce their adhesion, which is convenient for subsequent removal. After the water spraying is completed, the first control valve is closed, the second control valve is opened, and the air pump works at the same time to blow out the water and the separated aluminum chips in the blind hole 701, and loosen the aluminum chips still attached to the hole wall. In order to avoid the cleaning needle 322 from blocking the aluminum chips, this embodiment adopts a method of washing, blowing and retreating at the same time. During the process of spraying and blowing water, the cleaning needle 322 slowly moves out of the blind hole 701, and repeatedly switches between spraying water and blowing air during the movement. After three times of spraying water and three times of blowing air, the aluminum chips in the blind hole 701 can be removed. Afterwards, the automatic lifting door 303 moves upward to expose the opening of the cleaning chamber 302; at the same time, the third air suction control valve is switched to communicate with the outside, so that the cleaning suction cup 312 loses suction. The front end 502 of the robot arm extends into the cleaning chamber 302 to grab the blind hole processing part 700, and after the output end of the cleaning positioning cylinder 311 retracts, the blind hole processing part 700 is placed in the tray 600 in the receiving area.

[0077] Because the second baffle 412 blocked the conveying path of the pallet 600 when the robot placed the pallet 600 at the material receiving mechanism position, the pallet 600 was restricted from moving and would not be conveyed out of the material receiving mechanism position; at the same time, after the material receiving detection unit 413 sensed the pallet 600, the output end of the second positioning cylinder 414 extended out and abutted against the pallet 600 to position the pallet 600; therefore, the robot can accurately place the blind hole workpiece 700 in the placement slot of the pallet 600. After that, the output ends of the stopper cylinder 411 and the second positioning cylinder 414 are retracted, so that the upper end surface of the second baffle 412 is lower than the upper end surface of the second conveying mechanism 401. After the second conveying mechanism 401 conveys the tray 600 into the bottom of the discharge channel 426, the tray 600 abuts against the third baffle 423 and stops moving. The output end of the second material-lifting mechanism 421 extends upward, so that the tray 600 entering the bottom of the discharge channel 426 moves upward, and pushes the extended end of the loose-leaf 424 to flip upward. After the tray 600 continues to move upward for a distance, the tray 600 is separated from the loose-leaf 424, and the extended end of the loose-leaf 424 flips downward to restore the horizontal state. After that, the output end of the second material-lifting mechanism 421 is retracted, and the tray 600 is placed on the loose-leaf 424; the cleaning process of the blind hole workpiece 700 is completed. Afterwards, the above process can be repeated to continue cleaning the next blind hole processed part 700 , and the trays 600 containing the cleaned blind hole processed parts 700 can be stacked in the discharge channel 426 .

[0078] In this embodiment, the blind hole workpiece 700 is alternately sprayed with water and blown with air, which can effectively separate the aluminum chips from the hole wall. During the process of spraying water and blowing with air, the cleaning needle 322 is gradually moved to the outside of the blind hole 701, which can effectively remove the aluminum chips and other dirt in the blind hole 701. Through the precise positioning of the blind hole workpiece 700 and the tray 600, the transmission process and the cleaning process of the blind hole workpiece 700 can be automatically completed; a new technology for cleaning such products is created, which not only improves production efficiency and safety, but also improves the cleaning effect and saves manpower.

[0079] like Fig. 9 As shown, the present invention also discloses a fully automatic blind hole processing part cleaning method. A preferred embodiment of the fully automatic blind hole processing part cleaning method of the present invention comprises the following steps:

[0080] S101, controlling the feeding mechanism to deliver the blind hole workpiece to the first conveying mechanism, and controlling the first conveying mechanism to deliver the blind hole workpiece to the material grabbing area, wherein the material grabbing area has a device for positioning the blind hole workpiece delivered from the first conveying mechanism. Fig.10 As shown, this step includes the following sub-steps:

[0081] S1011, control the feeding mechanism to discharge the blind hole workpiece 700 to the first conveying mechanism according to the cleaning time of the cleaning device, the time of transferring the blind hole workpiece 700 from the feeding mechanism to the cleaning jig, and the cleaning progress; so that after the previous blind hole workpiece is cleaned and leaves the cleaning jig, the next blind hole workpiece is in a standby state (i.e., a state in which it can be immediately grabbed to the cleaning jig for cleaning). In this specific embodiment, the standby state refers to the state in which the blind hole workpiece is precisely positioned on the workpiece positioning mechanism. In this step, the controller 900 controls the first clamping mechanism to enter the working position to clamp a tray of the second bottom layer, controls the first lifting mechanism to fall below the upper surface of the first conveying mechanism, and makes the bottom tray fall onto the first conveying mechanism to complete the discharge.

[0082] S1012, control the first positioning cylinder of the material grabbing and positioning mechanism to enter the working position to clamp the pallet 600 in the relative direction, so that the blind hole workpiece 700 can be roughly positioned so that the robot can move the blind hole workpiece 700 to a predetermined range.

[0083] S1013 , the material grabbing sensing unit sends the sensed tray signal to the controller 900 .

[0084] S102, control the manipulator to grab the blind hole workpiece in the grabbing area and transfer it to the cleaning and positioning fixture, and grab the empty pallet in the grabbing area to the receiving mechanism in the receiving area. In this step, the controller 900 receives the pallet sensing signal sent by the grabbing detection unit, and controls the manipulator to grab the blind hole workpiece in the pallet 600 and transfer it to the cleaning fixture station according to the pallet sensing signal, and grab and transfer the empty pallet 600 to the receiving mechanism at the second end position (receiving area) of the second conveying mechanism 401, so that the empty pallet waits for the blind hole workpiece 700 after cleaning in the receiving area.

[0085] This step includes the following sub-steps:

[0086] S1021. The controller 900 controls the robot to grab the blind hole workpiece in the tray 600 according to the first tray sensing signal sent by the material grabbing sensing unit and transfer it to the workpiece positioning mechanism to accurately position the blind hole workpiece 700.

[0087] S1022, the controller 900 controls the robot to grab the precisely positioned blind hole workpiece 700 to the cleaning fixture.

[0088] S1023, the controller 900 controls the robot arm to grab the empty tray 600 and transfer it to the material receiving mechanism at the second end position (material receiving area) of the second conveying mechanism 401.

[0089] S1024 , the controller 900 controls the second stopping unit to extend upward to block the movement of the empty tray, and controls the second positioning unit to enter the working position to clamp the empty tray 600 .

[0090] S103, control the cleaning mechanism to alternately spray water and blow air to clean the blind holes of the blind hole processing parts at the cleaning positioning fixture. This step includes the following sub-steps:

[0091] S1031, the controller 900 controls the cleaning positioning cylinder 311 to enter the working position and respectively abut against the corresponding side edges of the blind hole processing part 700, and push the blind hole processing part 700 to abut against the third fixed rod 313, so as to further position the blind hole processing part 700. Afterwards, the six cleaning suction cups 312 firmly suck the blind hole processing part 700 on the fixture table 305 to prevent the blind hole processing part 700 from jumping during the cleaning process. Since the processing part positioning mechanism can accurately position the blind hole processing part 700, the manipulator can move the blind hole processing part 700 to the predetermined range on the cleaning positioning fixture to ensure that the blind hole processing part 700 does not exceed the range that the cleaning positioning fixture can position. After the cleaning positioning fixture positions the blind hole processing part 700, the position of the blind hole 701 can also be positioned, so that the small blind hole 701 can be accurately cleaned.

[0092] S1032, the controller controls the driving mechanism 321 to make the cleaning needle 322 extend into the bottom of the blind hole 701 of the corresponding blind hole workpiece 700, and spray water into the blind hole 701 through the cleaning needle 322. Since the needle of the cleaning needle 322 is very thin, it can generate a large impact force when spraying water, which is convenient for the aluminum chips to be separated from the hole wall; for the aluminum chips that cannot be separated from the hole wall, soaking can also reduce their adhesion, which is convenient for subsequent removal. After the water spraying is completed, the cleaning needle 322 is used to blow air into the blind hole 701 to blow out the water and the separated aluminum chips in the blind hole 701, and loosen the aluminum chips still attached to the hole wall. After that, the cleaning needle 322 is slowly moved out of the blind hole 701 to avoid the cleaning needle 322 blocking the aluminum chips; and the cleaning needle 322 repeatedly switches between water spraying and air blowing three times during the movement; the aluminum chips in the blind hole 701 can be removed by washing, blowing, and retreating.

[0093] S1033, the controller 900 controls the cleaning suction cup 312 to lose suction, and controls the cleaning positioning cylinder 311 to withdraw from the working position, thereby releasing the restriction of the cleaning positioning fixture on the blind hole workpiece 700.

[0094] S104 , the controller 900 controls the robot to grab the cleaned blind hole workpiece 700 and transfer it to an empty tray 600 in a receiving area, wherein the receiving area has a receiving mechanism for limiting the movement of the empty tray 600 .

[0095] S105, the controller 900 controls the receiving mechanism to release the restriction so that the tray 600 loaded with the blind hole processed parts 700 enters the second conveying mechanism 401, and controls the second conveying mechanism 401 to convey the blind hole processed parts 700 to the unloading area, wherein the unloading area has an unloading mechanism for unloading the blind hole processed parts 700, which is used to store the blind hole processed parts 700 in the unloading area into the unloading channel 426 of the unloading rack. This step includes the following sub-steps:

[0096] S1051, the controller 900 controls the output end of the material blocking cylinder 411 to retract, so that the upper end surface of the second baffle 412 is lower than the upper end surface of the second conveying mechanism 401, and at the same time makes the second positioning cylinder 414 withdraw from the working position, thereby releasing the restriction on the tray 600 in the material receiving area.

[0097] S1052: The second conveying mechanism 401 conveys the tray 600 in the receiving area to the discharging area. After the tray 600 enters the bottom of the discharging channel 426, it abuts against the third baffle 423 and stops moving.

[0098] S1053, the controller 900 controls the output end of the second ejecting mechanism 421 to extend upward according to the tray discharge signal sent by the tray discharge sensing unit, so that the tray 600 entering the bottom of the discharge channel 426 moves upward and pushes the extended end of the loose-leaf 424 to flip upward.

[0099] S1054: After the tray 600 continues to move upward for a certain distance, the tray 600 is separated from the hinge 424, and the extended end of the hinge 424 is turned downward to restore the horizontal state.

[0100] S1055, the output end of the second ejecting mechanism 421 is retracted, and the tray 600 is placed on the protruding end of the loose-leaf 424, so that the trays 600 containing the blind hole workpieces 700 that have been cleaned are stacked for easy storage.

[0101] The method of this embodiment can accurately place the blind hole processing part 700 at the cleaning position by positioning the tray 600 and the blind hole processing part 700, and can effectively separate the aluminum chips from the hole wall by alternately spraying water and blowing air on the blind hole processing part 700, so as to better remove the aluminum chips and other dirt in the blind hole 701; not only the production efficiency and safety are improved, but also the cleaning effect can be improved and manpower is saved.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A full-automatic cleaning system for blind-hole processed parts, characterized in that, it includes: A feeding device, including a first conveying mechanism, a feeding mechanism for sending the blind-hole processed parts to the first conveying mechanism, and a grasping and positioning mechanism for receiving and positioning the blind-hole processed parts conveyed by the first conveying mechanism; the feeding mechanism is arranged at the first end position of the first conveying mechanism; the feeding mechanism includes a feeding rack arranged above the first end of the first conveying mechanism, a feeding channel penetrating the feeding rack in the vertical direction, a first ejecting mechanism arranged below the first end of the first conveying mechanism, and a first clamping mechanism for clamping the tray. The first clamping mechanism includes at least one set of two clamping parts arranged oppositely. The bottom surfaces of the two clamping parts are higher than the upper surface of the first conveying mechanism, and the distance between the bottom surfaces of the two clamping parts and the upper surface of the first conveying mechanism is greater than the height of at least one tray; when the tray is loaded into the feeding channel, the ejecting surface of the first ejecting mechanism is higher than the upper surface of the first conveying mechanism to serve as the bottom support surface of the feeding channel; A cleaning device, including a cleaning and positioning fixture for positioning the blind-hole processed parts and a cleaning mechanism for alternately cleaning the blind holes on the blind-hole processed parts by spraying water and blowing air; A discharging device, including a receiving mechanism for receiving the blind-hole processed parts cleaned by the cleaning mechanism, a discharging mechanism, and a second conveying mechanism formed between the receiving mechanism and the discharging mechanism; and A manipulator, which is used to grasp the blind-hole processed parts at the position of the grasping and positioning mechanism to the cleaning and positioning fixture, and is also used to grasp the blind-hole processed parts at the cleaning and positioning fixture to the receiving mechanism.

2. The full-automatic cleaning system for blind-hole processed parts according to claim 1, characterized in that: The blind-hole processed parts are placed in the tray; The feeding mechanism is used to send the tray with the blind-hole processed parts to the first conveying mechanism, the first conveying mechanism conveys the tray with the blind-hole processed parts to the grasping and positioning mechanism, and the grasping and positioning mechanism positions the tray; The manipulator is used to grasp the blind-hole processed parts in the tray to the cleaning and positioning fixture for cleaning, and before the cleaning is completed, grasp the empty tray at the position of the grasping and positioning mechanism to the position of the receiving mechanism; the manipulator is also used to grasp the blind-hole processed parts at the cleaning and positioning fixture to the empty tray located at the position of the receiving mechanism after the blind-hole processed parts are cleaned; The receiving mechanism is used to restrict the movement of the placed empty tray, and is also used to release the restriction on the tray when the blind-hole processed parts are placed in the empty tray; The second conveying mechanism is used to convey the tray released from the restriction to the position of the discharging mechanism.

3. The full-automatic cleaning system for blind-hole processed parts according to claim 2, characterized in that: It further includes a workpiece positioning mechanism; the manipulator is further used to grab the blind hole workpiece at the position of the material grabbing and positioning mechanism to the workpiece positioning mechanism for pre-cleaning positioning, and the manipulator is further used to grab the blind hole workpiece at the workpiece positioning mechanism to the cleaning positioning jig after the pre-cleaning positioning is completed.

4. The full-automatic blind hole workpiece cleaning system according to claim 2, characterized in that: When sending a pallet at the bottom layer to the first conveying mechanism, the first clamping mechanism clamps the pallet above the pallet at the bottom layer, and the first ejecting mechanism moves downwards below the upper surface of the first conveying mechanism, and the pallet at the bottom layer naturally falls onto the first conveying mechanism.

5. The full-automatic blind hole workpiece cleaning system according to claim 2, characterized in that: The material grabbing and positioning mechanism is arranged at the second end position of the first conveying mechanism, and the material grabbing and positioning mechanism includes a first stopping unit arranged at the end position of the second end of the first conveying mechanism and a first positioning unit for positioning the pallet moved to the position of the first stopping unit.

6. The full-automatic blind hole workpiece cleaning system according to claim 2, characterized in that: The material receiving mechanism includes a second stopping unit arranged at the second end position of the second conveying mechanism and capable of protruding above the upper surface of the second conveying mechanism and resetting, and a second positioning unit for positioning the pallet at the position of the second stopping unit; the second stopping unit is close to the end of the second end of the second conveying mechanism, and the distance between the second stopping unit and the end is greater than the size of the pallet in the corresponding direction.

7. The full-automatic blind hole workpiece cleaning system according to claim 2, characterized in that: The discharging mechanism is arranged at the first end position of the second conveying mechanism; the discharging mechanism includes a discharging rack arranged above the first end of the second conveying mechanism, a discharging channel penetrating through the discharging rack in the vertical direction, a third stopping unit arranged at the first end position of the second conveying mechanism, a second ejecting mechanism arranged below the second conveying mechanism, and a movable supporting part capable of moving into the bottom layer under a tray; the lower surface of the movable supporting part is higher than the upper surface of the second conveying mechanism, and the distance between the movable supporting part and the second conveying mechanism is greater than the height of at least one tray; when loading the tray on the second conveying mechanism into the discharging channel, the second conveying mechanism is used to convey the tray to a position directly below the discharging channel, the third stopping unit is used to stop the tray at a position directly below the discharging channel, the second ejecting mechanism is used to upwardly hold the tray at the directly below position, the movable supporting part is withdrawn from the discharging channel, and at the same time, the second ejecting mechanism continues to upwardly hold the tray, so that the tray enters the discharging channel; when the tray is in the discharging channel and higher than the movable supporting part, the movable supporting part enters the discharging channel to support the tray in the discharging channel, and the second ejecting mechanism moves downward and resets below the upper surface of the second conveying mechanism.

8. The full-automatic blind hole machining part cleaning and decontamination system according to any one of claims 1 to 7, characterized in that: the cleaning and decontamination mechanism includes a cleaning needle, a driving mechanism for driving the cleaning needle to freely enter and exit the blind hole in the blind hole machining part, a cleaning pipeline, a first control valve for controlling the water flow rate in the cleaning pipeline, a blowing pipeline, and a second control valve for controlling the air flow rate in the blowing pipeline, and both the first control valve and the second control valve are electrically connected to the controller; one ends of the cleaning pipeline and the blowing pipeline are both communicated with the input end of the cleaning needle, and the other ends of the cleaning pipeline and the blowing pipeline are respectively communicated with a water source and an air source.

9. The full-automatic blind hole machining part cleaning and decontamination system according to claim 8, characterized in that: the controller is used for, after the blind hole machining part is positioned on the cleaning and decontamination positioning fixture, controlling the driving mechanism to drive the cleaning needle to extend into the blind hole, and during the cleaning process, controlling the driving mechanism to drive the cleaning needle to gradually move out of the blind hole; the controller is further used for controlling the first control valve to open when the cleaning needle extends into the blind hole so that the cleaning water source is sprayed into the blind hole through the cleaning needle; the controller is further used for recording the cleaning time when the first control valve is opened, and controlling the first control valve to close after the cleaning time reaches a preset cleaning time; the controller is further used for controlling the second control valve to open after the first control valve is closed so that the air source is blown into the blind hole through the cleaning needle; the controller is further used for recording the blowing time when the second control valve is opened, and controlling the second control valve to close after the blowing time reaches a preset blowing time; The controller is further configured to control the opening and closing of the first control valve and the second control valve according to a preset number of alternations, so that the cleaning and decontamination mechanism cleans the blind hole by alternately spraying water and blowing air according to the preset number of alternations.

10. A full-automatic cleaning and decontamination method for blind hole machined parts, characterized in that, it comprises the following steps: Controlling a feeding mechanism to send a blind hole machined part to a first conveying mechanism, and controlling the first conveying mechanism to convey the blind hole machined part to a material grabbing area, wherein the material grabbing area has a positioning device for positioning the blind hole machined part conveyed from the first conveying mechanism; Controlling a manipulator to grab the blind hole machined part at the material grabbing area and transfer it to a cleaning and positioning jig; Controlling a cleaning and decontamination mechanism to alternately clean the blind hole of the blind hole machined part at the cleaning and positioning jig by spraying water and blowing air; Controlling the manipulator to grab the cleaned blind hole machined part and transfer it to a material receiving area, wherein the material receiving area has a material receiving mechanism for restricting the movement of the blind hole machined part; Controlling the material receiving mechanism to release the restriction so that the blind hole machined part enters a second conveying mechanism, and controlling the second conveying mechanism to convey the blind hole machined part to a discharging area, wherein the discharging area has a discharging mechanism for discharging the blind hole machined part.

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