An abrasive ultrasonic cleaning device based on a polishing pad

Abstract

The application discloses a kind of based on abrasive pad's grinding ultrasonic cleaning device, transfer manipulator is transferred to the centering component on abrasive pad and carries out centering operation;Abrasive pad is transferred to drop component after centering is completed and carries out drop operation, is transferred to grinding assembly by transfer manipulator, grinding assembly is oppositely arranged with cleaning assembly, rotating assembly includes rotating seat and the carrying pressure element located at the both sides of rotating seat, carrying pressure element forms the pressure of the abrasive pad carried in the upper of grinding assembly, is ground by rotating at the bottom of carrying pressure element;Carrying pressure element is vertically lifted and rotated to cleaning assembly, another group of cleaning completed carrying pressure element is synchronously rotated to the upper of grinding assembly, and the head of carrying pressure element is cleaned by cleaning assembly.The device is taken from material, to drop, finally carries out grinding and cleaning again, realizes automatic operation, reduces manual intervention, improves production efficiency and consistency, improves grinding efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of grinding disc processing equipment, specifically relating to a grinding ultrasonic cleaning device based on grinding discs. Background Technology

[0002] In modern manufacturing, grinding and cleaning processes are critical production steps, widely used in the processing of electronic components, optical devices, and metal parts. However, traditional grinding and cleaning methods often suffer from low efficiency, excessive manual intervention, and incomplete cleaning, making it difficult to meet the demands of high-precision and high-efficiency production.

[0003] Traditional grinding methods typically rely on manual operation, which is limited by the skill level of the operators, leading to inconsistent grinding results and affecting product quality. Furthermore, the waste and dust generated during grinding pollute the environment and increase cleaning and maintenance costs. Current cleaning technologies, often using chemical cleaning agents or simple water washing, are ineffective at removing dirt from complex shapes and tiny crevices. While ultrasonic cleaning can improve cleaning results, its efficiency and uniformity still need further improvement in practical applications. Many traditional grinding and cleaning equipment still rely on manual operation, resulting in low production efficiency and increased risk of human error during long-term operation. Currently, grinding and cleaning processes are often performed separately, lacking effective process integration, leading to extended production cycles and significant resource waste. Therefore, there is an urgent need for automated equipment that can effectively integrate grinding and cleaning processes to improve overall production efficiency.

[0004] In summary, existing grinding and cleaning technologies have many shortcomings in terms of efficiency, precision, and automation, and there is an urgent need for innovative technical solutions to meet the demands of modern manufacturing for efficient and high-quality production. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an ultrasonic cleaning device based on abrasive discs, thereby solving the aforementioned technical problems in the prior art.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] An ultrasonic cleaning device based on abrasive discs includes a support assembly, a centering assembly, a dripping assembly, an abrasive assembly, a cleaning assembly, a transfer robot, and a rotating assembly.

[0008] The transfer robot arm picks up the grinding discs one by one from the carrier component and then transfers them to the centering component for centering.

[0009] The centered grinding disc is then transferred to the dispensing assembly for dispensing, and then transferred back to the grinding assembly by a transfer robot.

[0010] The grinding assembly and the cleaning assembly are arranged opposite to each other, and a rotating assembly is arranged between them. The rotating assembly includes a rotating seat and conveying clamping members located on both sides of the rotating seat. The conveying clamping members form a clamping force on the grinding disc carried above the grinding assembly, and the upper surface of the grinding disc is ground by the rotation of the bottom of the conveying clamping members.

[0011] After grinding is completed, the transport clamping component is vertically lifted and rotated into the cleaning assembly. Another set of cleaned transport clamping components is simultaneously rotated above the grinding assembly, and the head of the transport clamping component is cleaned by the cleaning assembly.

[0012] Furthermore, the bearing assembly has grinding discs stacked layer by layer, with gaps reserved between adjacent sets of grinding discs for the transfer robot to pick up the discs one by one.

[0013] Furthermore, the transfer robot includes a multi-axis robotic arm in the middle and a carrier plate and a clamping head at the front end; a bearing surface is formed on the carrier plate, and the grinding discs stacked on the bearing assembly are picked up by the bearing surface, and then placed in the centering assembly for centering operation; the clamping head is used to clamp the edge of the centered grinding disc and rotate it out.

[0014] Furthermore, the centering component includes an upper positioning support plate and a gripper positioning block, such that multiple sets of gripper positioning blocks form a circular structure, and a positioning support plate is formed at the center surrounded by the circular structure. A driving member for vertical driving is provided at the bottom of the support plate and extending outward, and the relative height of the support plate is adjusted by the driving member.

[0015] The upper surface of the support plate is connected by a negative pressure pipe, so that the grinding disc is adsorbed and supported above the support plate, and the outer edge of the grinding disc is clamped and fixed by a claw positioning block;

[0016] Furthermore, the bottom of the gripper positioning block is movably positioned between itself and the support plate.

[0017] Furthermore, the dripping assembly includes multiple sets of drip nozzles, a transfer platform, and XY-axis moving parts. The transfer platform is used to support the grinding disc, and a rotating motor is provided at the bottom of the transfer platform. The XY-axis moving parts at the bottom sequentially transfer the supported grinding disc to the multiple sets of drip nozzles for dripping operations.

[0018] Furthermore, the grinding assembly includes a grinding machine body and a first motion assembly. The first motion assembly enables the grinding machine body to reciprocate between the ends of the dripping assembly and the rotating assembly. Meanwhile, a grinding platform is provided on the upper surface of the grinding machine body, and an annular protrusion is formed on the outer edge of the grinding platform. The center is used to accommodate the grinding disc. Multiple sets of notches are opened at the edge of the annular protrusion where the grinding platform is located, so that the notches match the gripper head on the transfer robot arm.

[0019] Furthermore, the conveying and clamping component includes a rotating shaft, a pressure head, and a limiting plate. The rotating shaft drives the pressure head located at the bottom to rotate, while the limiting plate forms protection for the outer periphery of the pressure head.

[0020] A vertical limiting post is set on the outside of the grinding platform where the grinding assembly is located, so that the limiting plate is limited in height when it descends. At the same time, the pressure head located in the middle of the limiting plate continues to descend until it presses the grinding disc on the grinding platform.

[0021] Furthermore, a vision detection component is provided on the side where the dripping component is located. The vision detection component is used to visually position the grinding disc picked up by the transfer robot to the workstation where the grinding platform is located.

[0022] Furthermore, the cleaning assembly includes an ultrasonic cleaning tank, a rotating water tank, and a second motion assembly; the second motion assembly sequentially transports the ultrasonic cleaning tank and the rotating water tank to the underside of the transport and clamping component of the rotating assembly, and the ultrasonic cleaning tank uses an ultrasonic frequency of 40-60w for 20-30s to ultrasonically clean the head submerged in the transport and clamping component.

[0023] A rotating head is installed inside the rotating water tank to rotate the water flow contained in the tank.

[0024] Furthermore, the rotating head is located in the middle of the rotating water tank and is vertically arranged. A rotating component is provided at the bottom of the rotating head to realize the self-rotation of the rotating head. Multiple air vents are provided on the side of the rotating head along the vertical direction and / or the top circumferential direction. When the rotating water tank is filled with water, the air vents are circulated through the air vents to realize the flow of water in the rotating water tank. After the water is circulated, the water tank is drained, and the rotating head is vented at the same time to realize the drying of the conveying and clamping components.

[0025] The beneficial effects of this invention are:

[0026] 1. This device automates the entire process from material collection to liquid dripping, and finally grinding and cleaning, reducing manual intervention, improving production efficiency and consistency, and increasing grinding efficiency.

[0027] 2. The centering component used in this device achieves precise positioning of the grinding disc through the gripper positioning block and positioning support plate, ensuring the stability of the grinding disc in subsequent processes.

[0028] 3. The dripping assembly used in this device achieves uniform dripping of liquid onto the grinding disc through multiple sets of nozzles and a transfer platform, ensuring the uniformity and coverage of each drip, and guaranteeing uniformity and stability during grinding.

[0029] 4. The grinding and cleaning components of this device are arranged opposite each other. The grinding discs are pressed and ground by the conveying and clamping components. After grinding, they can be quickly transferred to the cleaning component for cleaning. This allows for repeated use in multiple grinding processes, which improves the grinding efficiency.

[0030] 5. The cleaning components used in this device utilize an ultrasonic cleaning tank for cleaning, combined with the rotating water flow of a rotating water tank. After cleaning, the device can also be quickly air-dried, significantly improving cleaning efficiency and ensuring thorough cleaning of the pressure head. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0032] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0033] Figure 2 This is a top view of the structure according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the connection state between the carrier plate and the clamp head of the transfer robot in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the centering component structure according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the droplet assembly structure according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the drip tip structure according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the grinding assembly structure according to an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the rotating component structure according to an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of the handling and clamping component structure according to an embodiment of the present invention;

[0041] Figure 10 This is a schematic diagram of the overall structure of the cleaning assembly according to an embodiment of the present invention;

[0042] Figure 11 This is a top view of the cleaning assembly according to an embodiment of the present invention;

[0043] Figure 12 This is a schematic diagram of the rotating head structure according to an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0045] like Figure 1 , Figure 2 As shown, this embodiment of the invention provides a grinding ultrasonic cleaning device based on abrasive discs, including a support assembly 1, a centering assembly 2, a dripping assembly 3, a grinding assembly 4, a cleaning assembly 5, a transfer robot 6, and a rotating assembly 7.

[0046] Grinding discs are stacked layer by layer on the bearing assembly 1, with a gap reserved between adjacent sets of grinding discs for the transfer robot 6 to pick up the discs one by one. Therefore, according to the actual grinding needs, multiple sets of bearing assemblies 1 can be set in a limited position on the side, thus realizing long-term automated operation.

[0047] The transfer robot 6 picks up the grinding discs one by one from the carrier component 1 and then transfers them to the centering component 2 for centering.

[0048] like Figure 3 As shown, at this time, the transfer robot 6 includes a multi-axis robot arm 61 in the middle and a carrier plate 62 and a clamping head 63 at the front end. A bearing surface 601 is formed on the carrier plate 62. The grinding discs stacked on the bearing assembly 1 are picked up through the bearing surface 601 (that is, when in use, the bearing surface 601 of the carrier plate 62 is inserted into the bottom of the grinding disc where the bearing assembly 1 is located, and then lifted up, so that the grinding disc is separated from the contact between the grinding disc and the bearing assembly 1). Then the grinding disc is placed in the centering assembly 2 for centering operation. The clamping head 63 is used to clamp the edge of the centered grinding disc (without touching the upper and lower surfaces where the grinding disc is located) and rotate it out.

[0049] like Figure 4As shown, the centering component 2 includes an upper positioning support plate 21 and gripper positioning blocks 22, with multiple sets of gripper positioning blocks 22 forming a circular structure. A positioning support plate 21 is formed at the center of this circular structure. Simultaneously, a driving member 211 extends outwards from the bottom of the support plate 21, driving it vertically. The driving member 211 adjusts the relative height of the support plate 21. Initially, the driving member 211 extends the positioning support plate 21 to a higher position (its upper surface is higher than the highest point of the gripper positioning blocks 22). When the grinding disc contacts the positioning support plate 21... When the grinding disc is placed on the upper surface of the support plate 21, it is then lowered by the drive component 211 until the outer edge of the grinding disc contacts the gripper positioning block 22. The bottom of the gripper positioning block 22 is movable (the bottom of the gripper positioning block 22 is movable between the support plate 21 and the gripper positioning block 22). Therefore, regardless of whether the center position is aligned with the center of the positioning support plate 21, as the positioning support plate 21 drives the grinding disc to fall, multiple gripper positioning blocks 22 can be adjusted in position synchronously. Finally, multiple gripper positioning blocks 22 can clamp the outer edge of the grinding disc, thus playing a centering role.

[0050] The upper surface of the support plate 21 is connected by a negative pressure pipe 212 (the negative pressure pipe 212 is connected at the bottom, ensuring the flatness of the upper surface of the support plate 21), so that the grinding disc is adsorbed and supported firmly above the support plate 21.

[0051] like Figure 5 , Figure 6 As shown, the centered grinding disc is then transferred to the dripping assembly 3 via the gripper head 63 on the transfer robot 6 for dripping. The dripping assembly 3 includes multiple sets of drip nozzles 31, a transfer platform 32, and XY-axis motion components 33. The transfer platform 32 is used to support the grinding disc (its upper surface is open), and a rotating motor 321 is installed at the bottom of the transfer platform 32. The XY-axis motion components 33 at the bottom sequentially transfer the supported grinding disc to the multiple sets of drip nozzles 31 for dripping. To ensure the uniformity of each drip, after one set of drip nozzles 31 has finished dripping, the rotating platform 42 is rotated by the rotating motor 321 to transfer the grinding disc to another set of drip nozzles 31. This method ensures that the dripping is evenly distributed on the surface of the grinding disc. After the dripping assembly 3 has finished dripping the grinding disc, the grinding disc is transferred back to the grinding assembly 4 via the gripper head 63 on the transfer robot 6.

[0052] like Figure 7As shown, the grinding assembly 4 includes a grinding machine body 41 and a first motion assembly 42. The first motion assembly 42 enables the grinding machine body 41 to reciprocate between the ends of the dripping assembly 3 and the rotating assembly 7. When the grinding machine body 41 moves along the bottom first motion assembly 42 to the end of the dripping assembly 3, a vision detection assembly 43 is set on the side where the dripping assembly 3 is located. The vision detection assembly 43 forms a visual positioning of the grinding disc picked up by the transfer robot 6 and transported to the workstation where the grinding platform 411 is located, ensuring that the grinding disc is accurately placed on the grinding platform 411 each time. After the grinding disc is placed, the grinding machine body 41 returns to the end position where the rotating assembly 7 is located along the direction of the bottom first motion assembly 42.

[0053] A grinding platform 411 is provided on the upper surface of the grinding machine body 41, and an annular protrusion is formed on the outer edge of the grinding platform 411. The center of the annular protrusion is used to accommodate the grinding disc (the size of its outer ring is equal to the outer diameter of the grinding disc). Multiple sets of notches 412 are provided at the edge of the annular protrusion of the grinding platform 411, and the notches 412 are matched with the gripper head 63 on the transfer robot 6. That is, when the gripper head 63 on the transfer robot 6 picks up the grinding disc and places it on the grinding platform 411, the annular protrusion of the grinding platform 411 has a certain height (it is impossible to place the grinding disc after it touches the bottom of the grinding platform 411). Therefore, in order to place the grinding disc more stably, the gripper head 63 can be embedded in the notch 412 of the grinding platform 411 until the bottom of the grinding disc contacts the bottom of the grinding platform 411 before the gripper head 63 is released, which can ensure the stable placement of the grinding disc.

[0054] The grinding component 4 and the cleaning component 5 are arranged opposite each other (in this application, they are placed parallel to each other, i.e., located on opposite sides of the rotating component 7), as follows. Figure 8 As shown, the rotating assembly 7 includes a rotating seat 71 and a conveying clamping member 72 located on both sides of the rotating seat. The conveying clamping member 72 forms a clamping action on the grinding disc carried above the grinding assembly 4 (i.e., forms a clamping action on the grinding disc located within the grinding platform 411), and the upper surface of the grinding disc is ground by the rotation of the bottom of the conveying clamping member 72.

[0055] At this time, as Figure 9As shown, the conveying and clamping component 72 includes a rotating shaft 721, a pressure head 722, and a limiting plate 723. The rotating shaft 721 drives the pressure head 722 located at the bottom to rotate (thus realizing that the pressure head 722 actually contacts and rotates with the upper surface of the grinding disc, generating grinding). At the same time, the limiting plate 723 forms a protection for the outer periphery of the pressure head 722. That is, when the pressure head 722 contacts the grinding disc, a vertical limiting post 413 is set in the vertical direction on the outside of the grinding platform 411 where the grinding assembly 4 is located. When the limiting plate 723 descends, it is limited in height by the limiting post 413, and forms a relatively closed space with the annular protrusion on the grinding platform 411, ensuring safety during the grinding process.

[0056] After grinding is completed, the rotating shaft 721 of the transport clamping member 72 is lifted, so that the pressure head 722 at the bottom of the rotating shaft 721 is separated from the direct contact with the grinding disc. It is lifted vertically and rotated through the rotating seat 71 to the side of the cleaning assembly 5. Another set of cleaned transport clamping members 72 are simultaneously rotated to the top of the grinding assembly 4 (to continue grinding), and the head of the transport clamping member 72 is cleaned by the cleaning assembly 5.

[0057] like Figure 10 , Figure 11 As shown, the cleaning assembly 5 includes an ultrasonic cleaning tank 51, a rotating water tank 52, and a second motion assembly 53. The second motion assembly 53 sequentially transports the ultrasonic cleaning tank 51 and the rotating water tank 52 to a position below the transport and clamping member 72 of the rotating assembly 7, where the pressure head 722 is cleaned. An ultrasonic component is installed at the bottom of the ultrasonic cleaning tank 51, using an ultrasonic frequency of 40-60W for 20-30 seconds to ultrasonically clean the pressure head 722 submerged in the transport and clamping member 72. After cleaning, the pressure head 722 is lifted, and then the second motion assembly 53 moves the rotating water tank 52 to a position below the pressure head 722 for further cleaning.

[0058] A rotating head 521 is installed inside the rotating water tank 52, which is used to rotate the water flow contained in the rotating water tank 52.

[0059] like Figure 12 As shown, the rotating head 521 is located in the middle of the rotating water tank 52 and is vertically arranged. The bottom of the rotating head 521 is equipped with a rotating component to realize the self-rotation of the rotating head 521. Multiple air vents 501 (which are connected to an external air valve) are arranged circumferentially along the vertical and / or top sides of the rotating head 521. When the rotating water tank 52 is filled with water, the air vents 501 are vented through the air vents 501 to realize the flow of water in the rotating water tank 52. Furthermore, since the rotating head 521 is rotating at this time, the water in the rotating water tank 52 is made to flow in a self-rotating manner, which greatly improves the cleaning efficiency of the pressure head 722.

[0060] After the water is supplied, the water tank 52 is drained, and the rotating head 521 is ventilated simultaneously to dry the transport clamping part 72. This method can quickly dry the pressure head 722 after washing. Finally, under the rotation of the rotating seat 71, the cleaned transport clamping part 72 is rotated to the grinding platform 411 for further grinding. The ground transport clamping part 72 is then cleaned again in the cleaning assembly 5. This cyclic cleaning method greatly improves the grinding efficiency.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A grinding ultrasonic cleaning device based on grinding discs, characterized in that, It includes a carrier component (1), a centering component (2), a dripping component (3), a grinding component (4), a cleaning component (5), a transfer robot (6), and a rotating component (7). The transfer robot (6) picks up the grinding discs one by one from the carrier component (1) and then transfers them to the centering component (2) for centering. The centered grinding disc is then transferred to the dripping assembly (3) for dripping, and then transferred again to the grinding assembly (4) by the transfer robot (6). The grinding assembly (4) and the cleaning assembly (5) are arranged opposite to each other, and a rotating assembly (7) is arranged between them. The rotating assembly (7) includes a rotating seat (71) and a transport clamping member (72) located on both sides of the rotating seat. The transport clamping member (72) forms a clamping force on the grinding disc carried above the grinding assembly (4), and the upper surface of the grinding disc is ground by the rotation of the bottom of the transport clamping member (72). After grinding, the transport clamping member (72) is lifted vertically and rotated into the cleaning assembly (5). Another set of transport clamping members (72) that have been cleaned are simultaneously rotated to the top of the grinding assembly (4), and the head of the transport clamping member (72) is cleaned by the cleaning assembly (5). The grinding assembly (4) includes a grinding machine body (41) and a first motion assembly (42). The first motion assembly (42) enables the grinding machine body to reciprocate between the ends of the dripping assembly (3) and the rotating assembly (7). Meanwhile, a grinding platform (411) is provided on the upper surface of the grinding machine body (41), and an annular protrusion is formed on the outer edge of the grinding platform (411). The middle part is used to accommodate the grinding disc. Multiple sets of notches (412) are opened at the edge of the annular protrusion where the grinding platform (411) is located, and the notches (412) are matched with the clamp head (63) on the transfer robot (6). The conveying and clamping component (72) includes a rotating shaft (721), a pressure head (722), and a limiting plate (723). The rotating shaft (721) drives the pressure head (722) at the bottom to rotate, while the limiting plate (723) forms protection for the outer periphery of the pressure head (722). A vertical limiting post (413) is set on the outside of the grinding platform (411) where the grinding assembly (4) is located, so that when the limiting plate (723) descends, it is limited in height by the limiting post (413). At the same time, the pressure head (722) in the middle of the limiting plate (723) continues to descend until it forms a clamping force on the grinding disc on the grinding platform (411). The cleaning assembly (5) includes an ultrasonic cleaning tank (51), a rotating water tank (52), and a second motion assembly (53). The second motion assembly (53) sequentially transports the ultrasonic cleaning tank (51) and the rotating water tank (52) to the underside of the transport clamping member (72) of the rotating assembly (7). The ultrasonic cleaning tank (51) uses ultrasonic waves at a frequency of 40-60W for 20-30s to ultrasonically clean the head of the transport clamping member (72) that is submerged. A rotating head (521) is provided inside the rotating water tank (52) to rotate the water flow contained in the rotating water tank (52). The rotating head (521) is located in the middle of the rotating water tank (52) and is vertically arranged. A rotating component is provided at the bottom of the rotating head (521) to realize the self-rotation of the rotating head (521). Multiple air vents (501) are provided on the side of the rotating head (521) along the vertical direction and / or the top circumferential direction. When the rotating water tank (52) is filled with water, the air vents (501) are circulated through the air vents (501) to realize the flow of water in the rotating water tank (52). After the water is circulated, the water tank (52) is drained, and the rotating head (521) is vented at the same time to realize the drying of the conveying clamping component (72).

2. The ultrasonic cleaning device based on abrasive discs according to claim 1, characterized in that, The bearing assembly (1) has grinding discs stacked layer by layer, with a gap reserved between adjacent sets of grinding discs for the transfer robot (6) to pick up the discs one by one.

3. The ultrasonic cleaning device based on abrasive discs according to claim 1, characterized in that, The transfer robot (6) includes a multi-axis robot arm (61) in the middle and a carrier plate (62) and a clamping head (63) at the front end. A bearing surface (601) is formed on the carrier plate (62). The grinding discs stacked on the bearing assembly (1) are picked up through the bearing surface (601) and then placed in the centering assembly (2) for centering. The clamping head (63) is used to clamp the edge of the centered grinding disc and rotate it out.

4. The ultrasonic cleaning device based on abrasive discs according to claim 1, characterized in that, The centering component (2) includes an upper positioning support plate (21) and a gripper positioning block (22), so that multiple sets of gripper positioning blocks (22) form a circular structure, and a positioning support plate (21) is formed at the center of the circular structure. A driving member (211) for driving in the up and down direction is provided on the bottom of the support plate (21) to adjust the relative height of the support plate (21). The upper surface of the support plate (21) is connected by a negative pressure pipe (212) so that the grinding disc is adsorbed and carried on the support plate (21). The outer edge of the grinding disc is clamped and fixed by the gripper positioning block (22). The bottom of the gripper positioning block (22) is movably set between the support plate (21).

5. The ultrasonic cleaning device based on abrasive discs according to claim 1, characterized in that, The dripping assembly (3) includes multiple sets of drip nozzles (31), a transfer platform (32), and an XY axis moving part (33). The transfer platform (32) is used to support the grinding disc, and a rotating motor (321) is provided at the bottom of the transfer platform (32). The XY axis moving part (33) at the bottom sequentially transfers the supported grinding disc to the multiple sets of drip nozzles (31) for dripping.

6. The ultrasonic cleaning device based on abrasive discs according to claim 1, characterized in that, A vision inspection component (43) is provided on the side where the dripping component (3) is located. The vision inspection component (43) is used to visually position the grinding disc picked up by the transfer robot (6) to the workstation where the grinding platform (411) is located.

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