Cleaning method and cleaning machine for vulcanizing machine mold

Abstract

The invention discloses a cleaning method and a cleaning machine for a vulcanizing machine mold, relates to the technical field of cleaning equipment, and can improve the cleaning efficiency of the vulcanizing machine mold. According to the specific scheme, the cleaning method is applied to the cleaning machine of the vulcanizing machine mold, the cleaning machine comprises a mechanical arm and a dry ice compressor, the mechanical arm is connected with a gun head, and the gun head is connected with the dry ice compressor through an air pipe. After a cleaning instruction is received, a cleaning machine is controlled to move to the front of a target vulcanizing machine to be cleaned, and the center position of a first plane of a mold of the target vulcanizing machine is determined; according to the center position, the target position where the gun head is to move is determined, and the gun head on the mechanical arm is controlled to move to the target position; and the air pipe is controlled to be opened, dry ice in the dry ice compressor is conveyed to the gun head and sprayed out of the gun head, and meanwhile the gun head is controlled to rotate and swing so that the mold can be cleaned.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning method and a cleaning machine for a vulcanizing machine mold. Background Art

[0002] With the growth of automobile demand, the tire industry has grown rapidly. Among them, tire vulcanization is an important process in the tire production process. The rubber attached to the vulcanization mold must be cleaned after 5-10 times of use. The cleaning work is usually done after the tire is taken out. At this time, the mold temperature is high and accompanied by a pungent smell.

[0003] At present, the mold is mainly cleaned manually by using dry ice under the action of compressed air to break the attached rubber into powder, thereby achieving the purpose of cleaning. In this cleaning process, the ambient temperature is high, the dry ice temperature is low, the rubber powder and other environments are harsh, and at the same time, the labor intensity is high, the work efficiency is low, and there is a certain degree of danger. Summary of the invention

[0004] The present application provides a vulcanizer mold cleaning method and a cleaning machine, which can improve the cleaning efficiency of the vulcanizer mold.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect of an embodiment of the present application, a method for cleaning a vulcanizer mold is provided, which is applied to a cleaning machine for a vulcanizer mold, wherein the cleaning machine comprises a mechanical arm and a dry ice compressor, wherein a gun head is connected to the mechanical arm, and the gun head and the dry ice compressor are connected via an air pipe, wherein the method comprises: After receiving the cleaning instruction, controlling the cleaning machine to move to the target vulcanizer to be cleaned, and determining the center position of the first plane of the mold of the target vulcanizer; Determine the target position to which the gun head is to be moved according to the center position, and control the gun head on the robotic arm to move to the target position; The air pipe is controlled to open, and the dry ice in the dry ice compressor is transported to the gun head and sprayed out from the gun head. At the same time, the gun head is controlled to rotate and swing to clean the mold.

[0006] As a possible implementation, the machine includes a collection device, which is disposed on the robot arm, and the determining of the center position of the first plane of the mold of the target vulcanizer includes: Acquire a plurality of point cloud data of the mold collected by the collection device from a plurality of different positions; The plurality of point cloud data are fitted, and the center position is determined according to the fitting result.

[0007] As a possible implementation manner, before controlling the gun head on the robotic arm to move to the target position, the method further includes: Acquire the current position of the gun head and the obstacle information collected by the collection device; Determining the movement trajectory of the gun head according to the current position, the target position and the obstacle information; The controlling the gun head on the robot arm to move to the target position includes: controlling the gun head to move to the target position according to the motion trajectory.

[0008] As a possible implementation, the mechanical arm is further provided with a position sensor; and controlling the gun head to move to the target position according to the motion trajectory includes: Acquire the current actual position of the gun tip acquired by the position sensor; Acquiring a current target position of the gun tip based on the motion trajectory; According to the position error between the current actual position and the current target position, the real-time position of the gun head is corrected until the gun head reaches the target position.

[0009] As a possible implementation manner, the target position is 3 to 5 cm away from the center position of the first plane, and the straight line between the target position and the center position is perpendicular to the first plane; The spraying pressure of the dry ice is 0.5~0.6Mpa, and the temperature of the dry ice is -85~-75°C.

[0010] In a second aspect of the embodiment of the present application, a cleaning machine for a vulcanizing machine mold is provided, the cleaning machine comprising: a mechanical arm and a dry ice compressor, the mechanical arm is connected to a gun head, the gun head and the dry ice compressor are connected via an air pipe, and the cleaning machine also includes a central control device; The central control device is used to execute the cleaning method of the vulcanizer mold provided in the first aspect of the embodiment of the present application.

[0011] As a possible implementation, the mechanical arm is connected to a reducer, and the reducer is connected to a first servo motor; The reducer is used for converting the output torque of the first servo motor and inputting it into the robotic arm.

[0012] As a possible implementation, the cleaning machine includes: a base frame, and the robot arm is fixed to the base frame by multiple layers of bolts.

[0013] As a possible implementation, the base frame is connected to a hydraulic support foot; The central control device is also used to: if it is detected that the cleaning machine is in motion, control the hydraulic support foot to be retracted into the base frame; if it is detected that the cleaning machine is in working state, control the hydraulic support foot to be extended to the ground.

[0014] As a possible implementation, the gun head is connected to the mechanical arm via a crank slider, and the gun head is also connected to a second servo motor; The central control device is also used to control the rotation and swing of the gun head by controlling the second servo motor.

[0015] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least: A method for cleaning a vulcanizer mold provided in an embodiment of the present application is applied to a cleaning machine for a vulcanizer mold, the cleaning machine comprising a mechanical arm and a dry ice compressor, the mechanical arm being connected to a gun head, the gun head and the dry ice compressor being connected via an air pipe. After receiving a cleaning instruction, the cleaning machine controls the cleaning machine to move to the front of the target vulcanizer to be cleaned, and determines the center position of the first plane of the mold of the target vulcanizer, and then determines the target position to be moved by the gun head according to the center position, and controls the gun head on the mechanical arm to move to the target position, and finally controls the air pipe to open, transports the dry ice in the dry ice compressor to the gun head and sprays it out from the gun head, and at the same time controls the gun head to rotate and swing to clean the mold, so that the vulcanizer mold can be automatically cleaned and the cleaning efficiency of the mold can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a cleaning machine for a vulcanizing machine mold provided in an embodiment of the present application; Figure 2 A flow chart of a method for cleaning a vulcanizing machine mold provided in an embodiment of the present application.

[0017] Reference numerals: 1-Robotic arm, 2-Dry ice compressor, 3-Gun head, 4-Collection device, 5-Base frame, 6-Hydraulic support feet, 7-Universal wheels. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0020] Additionally, the use of “based on” or “according to” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” or “according to” one or more conditions or values ​​may, in practice, be based on additional conditions or beyond values.

[0021] The present application embodiment provides a cleaning machine for a vulcanizing machine mold, such as Figure 1 As shown, the cleaning machine comprises: a mechanical arm and a dry ice compressor. The mechanical arm is connected with a gun head, and the gun head and the dry ice compressor are connected through an air pipe.

[0022] Based on Figure 1 A cleaning machine for a vulcanizer mold is shown. The present application provides a cleaning method for a vulcanizer mold. The executor of the cleaning method may be a central control device, which may be a general-purpose processor (central processing units, CPU), a microprocessor, an application-specific integrated circuit (application-specific integrated circuit, ASIC), or one or more integrated circuits for executing the program of the present application scheme. The embodiments of the present application do not specifically limit this.

[0023] In addition, the central control device can be integrated into the cleaning machine or exist independently outside the cleaning machine. The embodiment of the present application does not specifically limit this, as long as the central control device can communicate with the cleaning machine.

[0024] The cleaning method of the vulcanizing machine mold provided in the embodiment of the present application is as follows: Figure 2 As shown, the method comprises the following steps: Step 201: after receiving a cleaning instruction, control a cleaning machine to move to a target vulcanizer to be cleaned, and determine a center position of a first plane of a mold of the target vulcanizer.

[0025] The mold is usually in the shape of a tire, and comprises an upper bottom surface and a lower bottom surface, and the first plane is the bottom surface close to the cleaning machine.

[0026] Optionally, the process of controlling the cleaning machine to move to the target vulcanizer to be cleaned can be: manually controlling the cleaning machine to move to the target vulcanizer according to the position of the target vulcanizer, or, after the position of the target vulcanizer is input to the cleaning machine, the cleaning machine automatically moves to the target vulcanizer according to the position of the target vulcanizer.

[0027] It is understandable that different manufacturers have different vulcanizers, and the same vulcanizer may have different molds. By determining the center position of the mold, it is easier to determine the cleaning position.

[0028] Step 202: determine the target position to which the gun head is to be moved according to the center position, and control the gun head on the robot arm to move to the target position.

[0029] The target position is 3 to 5 cm away from the center position of the first plane, and the straight line between the target position and the center position is perpendicular to the first plane.

[0030] Step 203, control the air pipe to open, transport the dry ice in the dry ice compressor to the gun head and spray it out from the gun head, and control the gun head to rotate and swing at the same time to clean the mold.

[0031] Among them, the spraying pressure of dry ice is 0.5~0.6Mpa, and the temperature of dry ice is -85~-75℃.

[0032] It is understandable that the best cleaning effect is achieved when the gun tip is 3 to 5 cm away from the center of the first plane of the mold. If it is too far away, the cleaning quality will be affected, and if it is too close, the mold will be damaged. The dry ice pressure is 0.5 to 0.6 MPa. If the pressure is too low, the cleaning effect will be poor, and if the pressure is too high, the mold may be damaged. The outlet temperature of dry ice is -85 to -75 ° C. The connecting pipe between the gun tip and the dry ice compressor needs to use a dedicated pipe to ensure the temperature of the dry ice. The temperature of the mold is generally around 160 °. The dirt on the mold solidifies and granulates under the temperature difference and can be washed off by high pressure.

[0033] A method for cleaning a vulcanizer mold provided in an embodiment of the present application is applied to a cleaning machine for a vulcanizer mold, the cleaning machine comprising a mechanical arm and a dry ice compressor, a gun head being connected to the mechanical arm, and the gun head and the dry ice compressor being connected via an air pipe. After receiving a cleaning instruction, the cleaning machine controls the cleaning machine to move to the front of the target vulcanizer to be cleaned, and determines the center position of the first plane of the mold of the target vulcanizer, and then determines the target position to be moved by the gun head according to the center position, and controls the gun head on the mechanical arm to move to the target position, and finally controls the air pipe to open, transports the dry ice in the dry ice compressor to the gun head 3 and sprays it out from the gun head, and at the same time controls the gun head to rotate and swing to clean the mold, so that the vulcanizer mold can be automatically cleaned and the cleaning efficiency of the mold can be improved.

[0034] Optionally, the cleaning machine includes a collection device, which is disposed on a mechanical arm. The step 101 above determines the center position of the first plane of the mold of the target vulcanizer, including: A plurality of point cloud data of the mold collected by the collection device from a plurality of different positions are obtained, and then the plurality of point cloud data are fitted, and finally the center position is determined according to the fitting result.

[0035] Specifically, the point cloud data information of the mold can be collected from multiple different positions through a camera sensor, and the contour and feature information of the mold can be extracted using an image processing algorithm to analyze and determine the shape, center position and posture of the mold.

[0036] Optionally, before executing the above step 202 to control the gun head on the robot arm to move to the target position, the method further includes: The current position of the gun head and the obstacle information collected by the acquisition device are obtained, and then the movement trajectory of the gun head is determined according to the current position, target position and obstacle information.

[0037] Specifically, it is possible to determine whether the robot trajectory can be executed normally according to the shape of the currently configured gun head and the recognized environmental information.

[0038] Correspondingly, the process of controlling the gun head on the robot arm to move to the target position may be: controlling the gun head to move to the target position according to the motion trajectory.

[0039] Specifically, a position sensor is also provided on the mechanical arm of the cleaning machine. The process of controlling the gun head to move to the target position according to the motion trajectory can be: First, the current actual position of the gun head collected by the position sensor is obtained, and then the current target position of the gun head is obtained based on the motion trajectory. Finally, according to the position error between the current actual position and the current target position, the real-time position of the gun head is corrected until the gun head reaches the target position. The position sensor installed on the robot arm can provide a feedback signal to ensure that the central control device can monitor the actual state of the robot arm and accurately control the actual posture of the robot arm 1.

[0040] based on Figure 1 The cleaning machine for the vulcanizer mold shown in the figure comprises a robot arm 1 and a dry ice compressor 2. The robot arm 1 is connected with a gun head 3. The gun head 3 and the dry ice compressor 2 are connected via an air pipe. The cleaning machine also comprises a central control device.

[0041] The central control device is used to control the cleaning machine to move to the target vulcanizer to be cleaned after receiving the cleaning instruction, and determine the center position of the first plane of the mold of the target vulcanizer; determine the target position to which the gun head 3 is to be moved according to the center position, and control the gun head 3 on the robot arm 1 to move to the target position; control the air pipe to open, transport the dry ice in the dry ice compressor 2 to the gun head 3 and spray it out from the gun head 3, and control the rotation and swing of the gun head 3 to clean the mold.

[0042] The robot arm 1 uses an extension rod, which can reduce the interference problem of objects and provide an installation position for the collection device 4, so that the gun head 3 on the cleaning machine can reach the operating distance.

[0043] The robot arm 1 may be a multi-axis robot arm 1, and the functions and positions on each robot arm 1 may be numbered, and each axis has a specific range of motion and direction, and is responsible for different actions of the robot arm 1. The joints of the robot arm 1 are connected to each other through mechanical connectors such as gear racks to ensure the transmission of motion and the application of force.

[0044] In one embodiment, the cleaning machine further includes a collection device 4, which is disposed on the robot arm 1. The central control device is specifically used for: Acquire multiple point cloud data of the mold collected by the collection device 4 from multiple different positions; Multiple point cloud data are fitted and the center position is determined according to the fitting results.

[0045] In one embodiment, the central control device is also used to: obtain the current position of the gun head 3 and the obstacle information collected by the acquisition device 4; determine the movement trajectory of the gun head 3 based on the current position, target position and obstacle information; and control the gun head 3 to move to the target position according to the movement trajectory.

[0046] In one embodiment, a position sensor is also provided on the robot arm 1; the central control device is specifically used for: The current actual position of the gun tip 3 collected by the position sensor is obtained; the current target position of the gun tip 3 is obtained based on the motion trajectory; and the real-time position of the gun tip 3 is corrected according to the position error between the current actual position and the current target position until the gun tip 3 reaches the target position.

[0047] In one embodiment, the cleaning machine further comprises a reducer, the mechanical arm 1 is connected to the reducer, and the reducer is connected to the first servo motor; The reducer is used to convert the output torque of the first servo motor and input it to the robot arm 1. The first servo motor converts the high-speed rotating torque into a torque suitable for the load requirement through the reducer and inputs it to the robot arm 1, which is crucial to improving the load capacity and accuracy of the robot arm 1.

[0048] In one embodiment, the cleaning machine further includes: a base frame 5, the robot arm 1 is fixed to the base frame 5 by multiple layers of bolts, the air compressor is arranged in the base frame 5, and in addition, a touch screen may also be arranged on the base frame 5 for receiving input signals.

[0049] Among them, the bolt can be an M10 bolt, and the two layers of bolts can provide a more secure connection, especially when subjected to large lateral loads. In addition, the two sets of bolts work together to disperse the load and increase the bearing capacity of the overall structure. And by sharing the load with two layers of bolts, the stress on a single bolt can be reduced, thereby reducing the risk of breakage. At the same time, the two layers of bolts provide a certain degree of redundancy and increase safety. Adjusting the two layers of bolts to fix can make it more convenient to disassemble and replace a single bolt, and facilitate maintenance and adjustment. It can also adapt to different connection requirements, such as connecting thick plates, large structures, or using in limited space. Furthermore, in some structures, two layers of bolts can increase the rigidity of the structure and reduce deformation.

[0050] In addition, a universal wheel 7 is connected under the base frame 5, which allows the cleaning machine to be easily moved in all directions, greatly improving the flexibility of transportation. The universal wheel 7 is equipped with a locking mechanism, which can fix the position when necessary to prevent the cleaning machine from moving. The universal wheel 7 can rotate 360 ​​degrees to make steering more convenient and safer.

[0051] In one embodiment, a hydraulic support foot 6 is connected to the base frame 5; the central control device is also used to: if it is detected that the cleaning machine is in motion, then control the hydraulic support foot 6 to be retracted into the base frame 5; if it is detected that the machine is in working state, then control the hydraulic support foot 6 to be extended to the ground.

[0052] In addition, on uneven ground, the hydraulic support foot 6 can ensure the safety and stability of the equipment and prevent accidents. When fixed, it can be extended to the ground to provide stable support and reduce the risk of tilting or moving the cleaning machine. At the same time, the height and angle of the hydraulic support foot 6 can be adjusted. In addition, the hydraulic support foot 6 has a self-locking function. Once adjusted to the desired position, it can be fixed to prevent accidental drop, which makes the cleaning machine suitable for a variety of terrains and environments, including soft soil, sand or other uneven surfaces.

[0053] In one embodiment, the gun head 3 is connected to the robot arm 1 through a crank slider, and the gun head 3 is also connected to the second servo motor; the central control device is also used to control the rotation and swing of the gun head 3 by controlling the second servo motor.

[0054] The gun head 3 adopts a crank slider to realize the movement of the gun head 3, and the gun head 3 can be rotated to different angles to facilitate better cleaning and reduce the rotation burden of the cleaning machine. The servo motor can achieve very precise position control. In addition, the servo motor has high dynamic response characteristics and can quickly respond to control signals.

[0055] In another embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the cleaning method of the vulcanizer mold in the embodiment of the present application are implemented.

[0056] In another embodiment of the present application, a computer program product is provided. The computer program product includes computer instructions. When the computer instructions execute the various steps of the cleaning method of the vulcanizer mold in the method flow shown in the above method embodiment.

[0057] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer execution instruction is loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instruction can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by the computer or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0058] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for cleaning a vulcanizing machine mold, characterized in that: A cleaning machine for a vulcanizing machine mold is applied, the cleaning machine comprises a mechanical arm and a dry ice compressor, the mechanical arm is connected with a gun head, the gun head and the dry ice compressor are connected via an air pipe, and the method comprises: After receiving the cleaning instruction, controlling the cleaning machine to move to the target vulcanizer to be cleaned, and determining the center position of the first plane of the mold of the target vulcanizer; Determine the target position to which the gun head is to be moved according to the center position, and control the gun head on the robotic arm to move to the target position; The air pipe is controlled to open, and the dry ice in the dry ice compressor is transported to the gun head and sprayed out from the gun head. At the same time, the gun head is controlled to rotate and swing to clean the mold.

2. The method according to claim 1, characterized in that The cleaning machine further includes a collecting device, which is disposed on the mechanical arm. The determining of the center position of the first plane of the mold of the target vulcanizer includes: Acquire a plurality of point cloud data of the mold collected by the collection device from a plurality of different positions; The plurality of point cloud data are fitted, and the center position is determined according to the fitting result.

3. The method according to claim 2, characterized in that Before controlling the gun head on the robot arm to move to the target position, the method further includes: Acquire the current position of the gun head and the obstacle information collected by the collection device; Determining the movement trajectory of the gun head according to the current position, the target position and the obstacle information; The controlling the gun head on the robot arm to move to the target position includes: controlling the gun head to move to the target position according to the motion trajectory.

4. The method according to claim 3, characterized in that The mechanical arm is also provided with a position sensor; the step of controlling the gun head to move to the target position according to the motion trajectory includes: Acquire the current actual position of the gun tip acquired by the position sensor; Acquiring a current target position of the gun tip based on the motion trajectory; According to the position error between the current actual position and the current target position, the real-time position of the gun head is corrected until the gun head reaches the target position.

5. The method according to claim 1 or 3, characterized in that: The target position is 3 to 5 cm away from the center position of the first plane, and the straight line between the target position and the center position is perpendicular to the first plane; The spraying pressure of the dry ice is 0.5~0.6Mpa, and the temperature of the dry ice is -85~-75°C.

6. A cleaning machine for vulcanizing machine mold, characterized in that: The cleaning machine comprises: a mechanical arm and a dry ice compressor, the mechanical arm is connected to a gun head, the gun head and the dry ice compressor are connected via an air pipe, and the cleaning machine also comprises a central control device; The central control device is used to execute the cleaning method of the vulcanizing machine mold according to any one of claims 1 to 5.

7. The cleaning machine according to claim 6, characterized in that: The cleaning machine further comprises a reducer, the mechanical arm is connected to the reducer, and the reducer is connected to the first servo motor; The reducer is used for converting the output torque of the first servo motor and inputting it into the robotic arm.

8. The cleaning machine according to claim 6, characterized in that: The cleaning machine further comprises a base frame, and the mechanical arm is fixed on the base frame by multiple layers of bolts.

9. The cleaning machine according to claim 8, characterized in that: The base frame is connected with a hydraulic support foot; The central control device is also used to: if it is detected that the cleaning machine is in motion, control the hydraulic support foot to be retracted into the base frame; if it is detected that the cleaning machine is in working state, control the hydraulic support foot to be extended to the ground.

10. The cleaning machine according to claim 6, characterized in that: The gun head is connected to the mechanical arm through a crank slider, and the gun head is also connected to a second servo motor; The central control device is also used to control the rotation and swing of the gun head by controlling the second servo motor.

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