Mixed-flow nozzle, dry ice cleaning machine and application method thereof

Abstract

The present invention relates to the field of dry ice cleaning technology, and proposes a mixed flow nozzle, a dry ice cleaning machine and an application method thereof, including a mixed flow pipe, a gas supply joint, a dry ice input pipe, a rotating shaft, a first driving member and a second driving member, wherein a compressed gas flow channel and a dry ice flow channel are opened inside the mixed flow pipe; the gas supply joint and the dry ice input pipe are both connected to the mixed flow pipe; one end of the rotating shaft is connected to the dry ice input pipe; the first driving member is used to drive the mixed flow pipe and the gas supply joint to rotate relative to the dry ice input pipe; the second driving member is used to drive the mixed flow pipe, the gas supply joint and the dry ice input pipe to rotate with the rotating shaft as the axis. The present invention can drive the mixed flow pipe to swing and rotate through the first driving member and the second driving member, so that the arc-shaped nozzle can adjust the spraying direction. In this way, the mixed flow nozzle has the advantage of convenient angle adjustment, and through a higher degree of freedom, its cleaning range can be matched with the workpiece to be cleaned, thereby having the advantage of a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the technical field of dry ice cleaning, and in particular to a mixed-flow nozzle, a dry ice cleaning machine and an application method thereof. Background Art

[0002] Dry ice cleaning machine is a cleaning equipment with the advantages of high efficiency, environmental protection and non-destructiveness. It uses a special nozzle to mix compressed gas with dry ice particles, and then sprays them out at high speed to clean dirt. When it is working, it can rely on dry ice particles to freeze and embrittle surface dirt, making the dirt easy to peel off. Then the dry ice particles will vaporize quickly without causing damage. Therefore, it has a very wide range of application scenarios, especially for mold cleaning. Due to the different structures of the products to be cleaned, the automatic dry ice cleaning machine needs to be equipped with a corresponding adjustment structure so that the mixing nozzle can clean products with different structures to be cleaned.

[0003] For example, the utility model patent with the existing authorization announcement number CN209735894U discloses an adjustable sandblasting nozzle for dry ice blasting cleaning, including a sandblasting nozzle body, a screw groove is provided at one end of the air outlet of the sandblasting nozzle body, an auxiliary nozzle is screwed on the screw groove, the auxiliary nozzle is a cylindrical structure, and the auxiliary nozzle is fixed with fixed columns on both sides of one end away from the screw groove, a limiting sleeve is fixed on the fixing column, a rotating groove is provided on the limiting sleeve, a bracket is clamped inside the rotating groove, an air guide mechanism is fixed between the bottoms of the brackets, the air guide mechanism includes a sealing plate, the sealing plate is fixed to the bottom of the bracket, and an air guide groove is fixed between the sealing plates, and the air guide groove is a curved plate;

[0004] As in the above scheme, a fixing column is provided on the auxiliary nozzle, and the fixing column is connected to the bracket. Although the angle adjustment of the nozzle can be achieved, the degree of freedom is low and the adjustable range is small, which limits the scope of application and is not suitable for cleaning of precision instruments. Summary of the invention

[0005] In view of this, the present invention proposes a mixed-flow nozzle, a dry ice cleaning machine and an application method thereof with a high degree of freedom, which are suitable for cleaning equipment with complex and precise structures, thereby solving the problems of low adjustment freedom and small application range of existing dry ice cleaning equipment.

[0006] The technical solution of the present invention is achieved in this way:

[0007] In one aspect, the present invention provides a mixed-flow nozzle, comprising a mixed-flow pipe, a gas delivery connector, a dry ice input pipe, a rotating shaft, a first driving member and a second driving member, wherein:

[0008] A compressed gas flow channel and a dry ice flow channel are provided inside the mixed delivery pipe, and an arc-shaped nozzle is provided at one end of the mixed delivery pipe;

[0009] The gas delivery connector and the dry ice input pipe are both connected to the mixed delivery pipe, the gas delivery connector is connected to the compressed gas flow channel, and the dry ice input pipe is connected to the dry ice flow channel;

[0010] One end of the rotating shaft is connected to the dry ice input pipe, and the other end is connected to the fixed body;

[0011] The first driving member is used to drive the mixed delivery pipe and the gas delivery joint to rotate relative to the dry ice input pipe;

[0012] The second driving member is used to drive the mixed delivery pipe, the gas delivery joint and the dry ice input pipe to rotate with the rotating shaft as the axis.

[0013] On the basis of the above technical solution, preferably, the mixed transport pipe includes a hollow joint, a casing, an inner pipe and a protective pipe, wherein:

[0014] The hollow joint has a large diameter section, a tapered section, a small diameter section and a supporting section that are interconnected;

[0015] The large diameter section is connected to the dry ice input pipe and is rotatably sealed;

[0016] The large diameter section and the support section are embedded in the casing, and the support section has a flow channel connected to the compressed gas flow channel and the gas transmission joint;

[0017] The inner tube is coaxially arranged in the sleeve and communicated with the hollow joint.

[0018] On the basis of the above technical solution, preferably, it further includes a fixing plate, a detection bearing seat, a photoelectric sensor and a detection sheet, wherein:

[0019] One end of the fixed plate is connected to the rotating shaft, and the rotating shaft passes through the fixed plate;

[0020] The detection bearing seat is arranged on the fixed plate and is rotatably connected with the mixing pipe;

[0021] The photoelectric sensor is arranged on the detection bearing seat;

[0022] The detection sheet is arranged on the mixing pipe.

[0023] On the basis of the above technical solution, preferably, the first driving member includes a bracket, a first motor, a driving pulley, a driven pulley, a synchronous belt and a cover, wherein:

[0024] The bracket is connected to the fixing plate;

[0025] The first motor is arranged on the bracket;

[0026] The driving pulley is connected to the output shaft of the first motor;

[0027] The driven pulley is sleeved on the mixed pipe and relatively fixed;

[0028] The synchronous belt is connected to the driving pulley and the driven pulley;

[0029] The cover shell is connected with the fixing plate and is buckled with the driving pulley, the driven pulley and the synchronous belt.

[0030] On the basis of the above technical solution, preferably, the second driving member includes a second motor, a cam, a sliding bearing seat, a connecting block, a clamp and an axial electric push rod, wherein:

[0031] The second motor is relatively fixed to the fixed body;

[0032] The cam is arranged on the output shaft of the second motor, and the cam is provided with at least two protrusions, and the radii of the two protrusions are different;

[0033] The sliding bearing seat is sleeved on the mixed delivery pipe, and the sliding bearing seat is rotatably and slidably connected with the mixed delivery pipe;

[0034] The connecting block is connected to the sliding bearing seat, the connecting block abuts against the cam, and round chamfers are arranged on both sides of the connecting block;

[0035] The clamp sleeve is arranged on the mixed transmission pipe;

[0036] The axial electric push rod is connected to the clamp, and the movable end of the axial electric push rod is connected to the connecting block.

[0037] On the other hand, the present invention provides a dry ice cleaning machine, comprising the above-mentioned mixing nozzle.

[0038] On the other hand, the present invention provides another dry ice cleaning machine, comprising the above-mentioned mixed delivery nozzle, and also comprising a three-axis displacement mechanism, a machine body, a brush roller and a camera, wherein the three-axis displacement mechanism comprises an X-axis module, a Y-axis module and a Z-axis module, and the three-axis displacement mechanism is a fixed body, wherein:

[0039] The X-axis module is arranged on the machine body;

[0040] The Y-axis module is arranged on the movable end of the X-axis module;

[0041] The Z-axis module is arranged on the movable end of the Y-axis module;

[0042] The rotating shaft is rotatably connected to the movable end of the Z-axis module;

[0043] The brush roller is arranged on the mixing pipe;

[0044] The camera is arranged between the brush roller and the mixing pipe and extends outward;

[0045] The mixed delivery pipe, the gas delivery joint, the dry ice input pipe, the rotating shaft, the first driving member, the second driving member, the fixing plate, the detection bearing seat, the photoelectric sensor and the detection sheet follow the displacement adjustment of the three-axis displacement mechanism.

[0046] On the basis of the above technical solution, preferably, two mixed injection nozzles are provided in a mirror-image structure;

[0047] The rotating shaft includes a first shaft section, a second shaft section, a third shaft section, a supporting bearing seat and a shaft seat, wherein:

[0048] The first shaft section and the third shaft section are each connected to a fixing plate;

[0049] One end of the first shaft section and the third shaft section away from the fixed plate is rotatably connected to a shaft seat, and the dry ice input pipe passes through the shaft seat;

[0050] Both ends of the second shaft section are rotatably connected to a shaft seat respectively;

[0051] The supporting bearing seat is arranged on one of the fixing plates, and the supporting bearing seat is rotatably connected with the first shaft segment and / or the second shaft segment and / or the third shaft segment;

[0052] One end of the first shaft section away from the shaft seat is rotatably connected to the movable end of the Z-axis module.

[0053] On the basis of the above technical solution, preferably, in the two mixing nozzles, one of the cams is provided with a connecting tube, the two protrusions of the cam are not located on the same circumferential surface, and the two protrusions each have a side surface that is flush with each other;

[0054] The second driving member also includes an adjusting member and a follower, wherein:

[0055] The adjusting member includes a main shaft, a third motor, a driving gear, a driven gear and a positioning electric push rod. The main shaft is connected in series with the cams of the two mixing nozzles and is connected to the output shaft of the second motor. The third motor is arranged on the connecting cylinder, and the cam of the connecting cylinder is arranged and is rotationally connected with the main shaft. The driving gear is arranged on the output shaft of the third motor, and the driven gear is sleeved on the main shaft and meshed with the driving gear. The positioning electric push rod is arranged on a protruding portion, and the movable end of the positioning electric push rod passes through the cam and is plugged with the main shaft.

[0056] The follower includes a slide rail, a slider, a slide rod, a lifting push rod and a machine base. The slide rail is set on the machine body. The slider is slidably connected to the slide rail. One end of the slide rod is connected to the main shaft, and the other end is slidably connected to the slider. One end of the lifting push rod is connected to the slider, and the other end is connected to the main shaft. One end of the machine base is connected to the slider, and the other end is connected to the movable end of the X-axis module.

[0057] In another aspect, the present invention provides an application method of the above-mentioned dry ice cleaning machine, comprising the following steps:

[0058] Dry ice particles are input into the mixing pipe through the dry ice input pipe, and compressed gas is input into the mixing pipe through the gas transmission joint, and the dry ice particles and the compressed gas are sprayed out after being mixed;

[0059] The first driving member drives the mixed pipe to rotate through the first motor, the driving pulley, the driven pulley and the synchronous belt to adjust the cleaning angle;

[0060] Among them, the second driving member adjusts the position of the cam through the axial electric push rod, adjusts the angle of the cam through the adjusting member, and positions the cam, and then drives the cam to rotate through the second motor, so that the cam drives the mixing pipe to rotate around the rotating shaft as the axis to achieve reciprocating swinging action.

[0061] The mixed-flow nozzle, dry ice cleaning machine and application method of the present invention have the following beneficial effects compared with the prior art:

[0062] (1) By connecting the dry ice input pipe to the fixed body through the rotating shaft, the dry ice input pipe, the gas supply connector and the mixed delivery pipe can be driven by the second driving member to rotate with the rotating shaft as the axis, so as to achieve angle adjustment. By setting the first driving member, it can drive the gas supply connector and the mixed delivery pipe to rotate relative to the dry ice input pipe, so that the arc-shaped nozzle can adjust the spray direction. In this way, the mixed delivery nozzle has the advantage of convenient angle adjustment. With a high degree of freedom, its cleaning range can be matched with the workpiece to be cleaned, so it has the advantage of a wide range of applications.

[0063] (2) The mixed transport pipe consists of a hollow joint, a casing, an inner pipe and a protective pipe. The large diameter section and the support section of the hollow joint are both embedded in the casing, which can ensure that the hollow joint and the casing have good sealing properties. The hollow joint is provided with a tapered section, which can disperse the gas supplied by the gas transmission joint, so that the compressed gas flow can be evenly transported through the compressed gas flow channel. Firstly, it can increase the temperature and avoid the generation of condensed water on the surface of the mixed transport pipe. Secondly, it can improve the uniformity of the mixing of compressed gas and dry ice particles, which is conducive to improving the cleaning effect.

[0064] (3) By setting a fixed plate, the mixed pipe can be supported to ensure the stability of the structure; the fixed plate is also provided with a photoelectric sensor for installing a detection bearing seat, so that when the mixed pipe rotates, the detection piece is driven to move synchronously, so that the detection piece can be detected by the photoelectric sensor to determine the rotation angle of the mixed pipe;

[0065] (4) In the first driving member structure, the first motor is connected to the fixed plate through a bracket, so that the first motor can drive the mixing pipe to rotate through the driving pulley, the driven pulley and the synchronous belt, thereby realizing the circumferential angle adjustment of the mixing pipe;

[0066] (5) In the second driving member structure, the second motor drives the cam to move, so that the cam can drive the mixing pipe to swing up and down to achieve radial angle adjustment of the mixing pipe, thereby meeting the purging requirements at different positions;

[0067] (6) By setting up a three-axis displacement mechanism, it can drive the mixing nozzle to move as a whole, and cooperate with the fine adjustment of the mixing pipe through the first driving member and the second driving member to achieve a wider range of cleaning work; at the same time, one of the two mixing nozzles is provided with an adjustment member, and the adjustment member can drive the cam to rotate and fine-tune through the third motor in conjunction with the driving gear and the driven gear. Subsequently, the cam and the main shaft can be fixed relatively by positioning the electric push rod, so that the protrusion of the cam can be switched. When the two cams swing, since the two mixing pipes correspond to different protrusions of the two cams, the two mixing nozzles can achieve up and down swings at different angles, thereby meeting the cleaning requirements of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0069] Figure 1 A three-dimensional diagram of the mixing nozzle of the present invention;

[0070] Figure 2 For the present invention Figure 1 A magnified view of the structure at point A;

[0071] Figure 3 It is a front view of the mixing nozzle of the present invention;

[0072] Figure 4 It is a left side view of the mixed delivery nozzle of the present invention;

[0073] Figure 5 It is a right side view of the mixed delivery nozzle of the present invention;

[0074] Figure 6 A top view of the mixing nozzle of the present invention;

[0075] Figure 7 For the present invention Figure 6 Middle AA section view;

[0076] Figure 8 For the present invention Figure 7 A magnified view of the structure at point B;

[0077] Fig. 9It is a structural diagram of the layout of the drive components of the mixed-flow nozzle of the present invention;

[0078] Fig.10 For the present invention Fig. 9 A magnified view of the structure at point C in the middle;

[0079] Fig.11 For the present invention Fig. 9 A magnified view of the structure at point D;

[0080] Fig.12 A three-dimensional diagram of a second driving member of the mixing nozzle of the present invention;

[0081] Fig.13 A three-dimensional view of the operating surface of the dry ice cleaning machine of the present invention;

[0082] Fig.14 A three-dimensional view of the working surface of the dry ice cleaning machine of the present invention;

[0083] Fig.15 This is a structural diagram of the internal mixing nozzle layout of the dry ice cleaning machine of the present invention;

[0084] In the figure: 1, mixed pipe; 11, hollow joint; 111, large diameter section; 112, tapered section; 113, small diameter section; 114, support section; 12, casing; 13, inner tube; 14, protective tube; 101, compressed gas flow channel; 102, dry ice flow channel; 2, gas transmission joint; 3, dry ice input pipe; 4, rotating shaft; 41, first shaft section; 42, second shaft section; 43, third shaft section; 44, supporting bearing seat; 45, shaft seat; 5, first driving member; 51, bracket; 52, first motor; 53, driving pulley; 54, driven pulley; 55, synchronous belt; 56, cover; 6, second driving member; 61, second motor; 62, cam; 621, protrusion; 622, connecting tube; 63, sliding Bearing seat; 64, connecting block; 65, clamp; 66, axial electric push rod; 67, adjusting part; 671, main shaft; 672, third motor; 673, driving gear; 674, driven gear; 675, positioning electric push rod; 68, follower; 681, slide rail; 682, slider; 683, slide rod; 684, lifting push rod; 685, machine base; 601, side; 7, fixing plate; 8, detection bearing seat; 9, photoelectric sensor; 10, detection sheet; 100, three-axis displacement mechanism; 1001, X-axis module; 1002, Y-axis module; 1003, Z-axis module; 200, machine body; 300, brush roller; 400, camera; 500, dry ice preparation component; 600, control module. DETAILED DESCRIPTION

[0085] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0086] like Figure 1 to Figure 15 As shown, the mixed delivery nozzle of the present invention comprises a mixed delivery pipe 1, a gas delivery connector 2, a dry ice input pipe 3, a rotating shaft 4, a first driving member 5, a second driving member 6, a fixing plate 7, a detection bearing seat 8, a photoelectric sensor 9 and a detection sheet 10;

[0087] The dry ice cleaning machine of the present invention includes the above-mentioned mixed-flow nozzle, and also includes a three-axis displacement mechanism 100, a machine body 200, a brush roller 300, a camera 400, a dry ice preparation component 500 and a control module 600;

[0088] like Figure 1 , Figure 7 and Figure 8 As shown, a compressed gas flow channel 101 and a dry ice flow channel 102 are provided inside the mixed delivery pipe 1, and an arc-shaped nozzle is provided at one end of the mixed delivery pipe 1; the gas delivery connector 2 and the dry ice input pipe 3 are both connected to the mixed delivery pipe 1, the gas delivery connector 2 is connected to the compressed gas flow channel 101, and the dry ice input pipe 3 is connected to the dry ice flow channel 102;

[0089] As in the above structure, the mixed delivery pipe 1 is provided with a gas delivery connector 2 and a dry ice input pipe 3, wherein the gas delivery connector 2 is used to connect the compressed air supply device, and the dry ice input pipe 3 is used to connect the dry ice preparation device, wherein the gas delivery connector 2 inputs compressed gas into the compressed gas flow channel 101 of the mixed delivery pipe 1, and the dry ice preparation device is used to prepare dry ice particles and deliver them into the dry ice flow channel 102 of the mixed delivery pipe 1 through the dry ice input pipe 3;

[0090] At one end of the mixing pipe 1 away from the gas connection 2, the compressed gas flow channel 101 is connected with the dry ice flow channel 102 to form a mixing area. After the dry ice particles are mixed with the compressed gas, they can be sprayed out through the arc nozzle to achieve cleaning work.

[0091] In some embodiments, the dry ice input pipe 3 is used to input the mixed dry ice particles and compressed gas, and the gas supply connector 2 is used to input the protective gas, so that the dry ice particles are mixed with the compressed gas and then output through the dry ice flow channel 102; in this structure, the compressed gas flow channel 101 is not connected to the dry ice flow channel 102, and the compressed gas flow channel 101 forms an annular nozzle at the end of the mixing pipe 1 to spray out the protective gas; further, the activator is mixed in the protective gas, and the activator is sprayed onto the surface of the product to be cleaned to improve the convenience of cleaning the dirt on the surface of the product to be cleaned, so that the dirt is easier to remove;

[0092] As in the above structure, the compressed gas or protective gas flowing in the compressed gas flow channel 101 can play a role in increasing the temperature to avoid the problem that the surface temperature of the mixing pipe 1 is too low to produce condensed water, which affects the cleaning cleanliness.

[0093] like Figure 2~Figure 6 As shown, one end of the rotating shaft 4 is connected to the dry ice input pipe 3, and the other end is connected to the fixed body; the first driving member 5 is used to drive the mixed delivery pipe 1 and the gas delivery connector 2 to rotate relative to the dry ice input pipe 3; the second driving member 6 is used to drive the mixed delivery pipe 1, the gas delivery connector 2 and the dry ice input pipe 3 to rotate with the rotating shaft 4 as the axis;

[0094] As in the above structure, the mixed delivery pipe 1 is connected to the rotating shaft 4 through the dry ice input pipe 3, so that the mixed delivery pipe 1, the gas delivery connector 2 and the dry ice input pipe 3 can all be rotated through the rotating shaft 4. At this time, the second driving member 6 is driven to realize the up and down swinging of the arc-shaped nozzle, thereby increasing the working range and making it meet the cleaning needs of the product to be cleaned;

[0095] Among them, the first driving member 5 is used to drive the mixing pipe 1 to rotate, and the arc-shaped nozzle also rotates synchronously, thereby further expanding the cleaning range. In this way, the mixing nozzle has the advantage of convenient angle adjustment. Through a higher degree of freedom, its cleaning range can be matched with the workpiece to be cleaned, thereby having the advantage of a wide range of applications.

[0096] like Figure 8 As shown, the mixed delivery pipe 1 includes a hollow joint 11, a sleeve 12, an inner tube 13 and a protective tube 14, wherein the hollow joint 11 has a large diameter section 111, a tapered section 112, a small diameter section 113 and a support section 114 which are connected to each other; the large diameter section 111 is connected to the dry ice input pipe 3 and is rotatably sealed; the large diameter section 111 and the support section 114 are embedded in the sleeve 12, and the support section 114 has a flow channel connected to the compressed gas flow channel 101 and the gas delivery joint 2; the inner tube 13 is coaxially arranged in the sleeve 12 and is connected to the hollow joint 11;

[0097] As described above, the mixed transport pipe 1 is composed of a hollow joint 11, a sleeve 12, an inner pipe 13 and a protective pipe 14;

[0098] The large diameter section 111 and the support section 114 of the hollow joint 11 are both embedded in the sleeve 12, wherein the large diameter section 111 is used to input dry ice particles, and then the dry ice particles will enter the dry ice flow channel 102 of the mixed delivery pipe 1 through the tapered section 112, the small diameter section 113 and the support section 114;

[0099] The conical section 112 and the small diameter section 113 of the hollow joint 11 correspond to the gas joint 2, and a flow channel connected to the gas joint 2 and the compressed gas flow channel 101 is formed inside the support section 114, so that the compressed gas enters the compressed gas flow channel 101 through the gas joint 2 and the flow channel of the support section 114;

[0100] Specifically, the flow channel of the support section 114 is an annular structure, and a support rib is provided inside for support, forming a spoke-type support structure; thus, the support section 114 is composed of an internal part connected to the inner tube 13 and an external annular part;

[0101] This structure can ensure that the hollow joint 11 and the sleeve 12 have good sealing performance, and the hollow joint 11 is provided with a tapered section 112, which can disperse the gas supplied by the gas delivery joint 2, so that the compressed gas flow can be evenly delivered through the compressed gas flow channel 101. Firstly, the temperature can be increased to avoid condensation on the surface of the mixed delivery pipe 1, and secondly, the uniformity of the mixing of the compressed gas and the dry ice particles can be increased, which is conducive to improving the cleaning effect;

[0102] At the same time, the large diameter section 111 is rotationally sealed with the dry ice input pipe 3, so that interference with the first driving member 5 during operation can be avoided.

[0103] like Fig. 9 and Fig.10 As shown, one end of the fixed plate 7 is connected to the rotating shaft 4, and the rotating shaft 4 passes through the fixed plate 7; the detection bearing seat 8 is arranged on the fixed plate 7 and is rotatably connected to the mixing pipe 1; the photoelectric sensor 9 is arranged on the detection bearing seat 8; and the detection sheet 10 is arranged on the mixing pipe 1;

[0104] As in the above structure, the fixing plate 7 plays a supporting role, and the mixed delivery pipe 1 is connected to the fixing plate 7 through the detection bearing seat 8, so that the stability of the installation of the mixed delivery pipe 1 can be further ensured, and the rotation of the mixed delivery pipe 1 will not be interfered with;

[0105] Among them, a photoelectric sensor 9 is arranged on the detection bearing seat 8, and a detection piece 10 is arranged on the mixing pipe 1. When the first driving member 5 drives the mixing pipe 1 to rotate, the detection piece 10 will rotate synchronously. When passing through the photoelectric sensor 9, the detection piece 10 will block the light path of the photoelectric sensor 9. In this way, the rotation angle of the mixing pipe 1 can be determined. When multiple cleaning components are integrated at the end of the mixing pipe 1, it is convenient to switch between the cleaning components.

[0106] like Fig.10As shown, the first driving member 5 includes a bracket 51, a first motor 52, a driving pulley 53, a driven pulley 54, a synchronous belt 55 and a cover 56, wherein the bracket 51 is connected to the fixed plate 7; the first motor 52 is arranged on the bracket 51; the driving pulley 53 is connected to the output shaft of the first motor 52; the driven pulley 54 is sleeved on the mixing pipe 1 and relatively fixed; the synchronous belt 55 is connected to the driving pulley 53 and the driven pulley 54; the cover 56 is connected to the fixed plate 7, and buckles the driving pulley 53, the driven pulley 54 and the synchronous belt 55;

[0107] As in the above structure, when it is necessary to drive the mixing pipe 1 to rotate, the first motor 52 drives the driving pulley 53 to rotate, and then drives the mixing pipe 1 to rotate relative to the dry ice input pipe 3 through the synchronous belt 55 and the driven pulley 54, so as to achieve the spray angle adjustment of the arc nozzle angle;

[0108] In order to ensure the accuracy of the movement, a cover 56 is provided to engage the transmission components to prevent them from being damaged by foreign matter.

[0109] like Fig.11 and Fig.12 As shown, the second driving member 6 includes a second motor 61, a cam 62, a sliding bearing seat 63, a connecting block 64, a clamp 65 and an axial electric push rod 66, wherein the second motor 61 is relatively fixed to the fixed body; the cam 62 is arranged on the output shaft of the second motor 61, and at least two protrusions 621 are arranged on the cam 62, and the radii of the two protrusions 621 are different;

[0110] As in the above structure, the second motor 61 is used to drive the cam 62 to rotate. The cam 62 has two protrusions 621. When working, one of the protrusions 621 is used to resist the mixing pipe 1. In this way, the second motor 61 drives the cam 62 to reciprocate and realize the swinging action. The cam 62 can drive the mixing pipe 1 to swing upward with the rotating shaft 4 as the axis, so as to adjust the cleaning range, which can increase the cleaning range and realize reciprocating purge to improve the cleaning effect.

[0111] At the same time, the second motor 61 can drive the cam 62 to rotate, so as to switch different protrusions 621 to correspond to the mixing pipe 1. Since the radius of the protrusions 621 is different, the swing amplitude and the swing speed can be adjusted;

[0112] In some embodiments, the rotation angle and the rotation speed of the second motor 61 may also be adjusted, so as to adjust the swing amplitude and the swing speed of the mixing pipe 1 .

[0113] like Fig.11 and Fig.12As shown, the sliding bearing seat 63 is sleeved on the mixing pipe 1, and the sliding bearing seat 63 is rotatably and slidably connected to the mixing pipe 1; the connecting block 64 is connected to the sliding bearing seat 63, the connecting block 64 abuts against the cam 62, and both sides of the connecting block 64 are provided with round chamfers; the clamp 65 is sleeved on the mixing pipe 1; the axial electric push rod 66 is connected to the clamp 65, and the movable end of the axial electric push rod 66 is connected to the connecting block 64;

[0114] As in the above structure, the mixing pipe 1 is provided with a sliding bearing seat 63 and a connecting block 64, and the connecting block 64 is provided with a round chamfer. When it is working, the sliding bearing seat 63 and the connecting block 64 can be driven to move synchronously by the axial electric push rod 66, so that the plane part or the round chamfer part of the connecting block 64 can be selectively made to correspond to the cam 62. When the plane part of the connecting block 64 corresponds to the cam 62, the mixing pipe 1 is in a horizontal state, and when the round chamfer corresponds to the cam 62, the cleaning end of the arc-shaped nozzle cleaning device provided on the mixing pipe 1 will tilt downward, so that the cleaning range of the mixing pipe 1 can be finely adjusted, so that it is suitable for cleaning work of precision equipment.

[0115] The sliding bearing seat 63 and the mixing pipe 1 are slidably matched to avoid interference with the adjustment action of the axial electric push rod 66 . The axial electric push rod 66 can be relatively fixed to the mixing pipe 1 by the clamp 65 .

[0116] like Figure 1 , Figure 13~Figure 15 As shown, the three-axis displacement mechanism 100 includes an X-axis module 1001, a Y-axis module 1002 and a Z-axis module 1003. The three-axis displacement mechanism 100 is a fixed body, wherein the X-axis module 1001 is arranged on the body 200; the Y-axis module 1002 is arranged on the movable end of the X-axis module 1001; the Z-axis module 1003 is arranged on the movable end of the Y-axis module 1002; the rotating shaft 4 is rotatably connected to the movable end of the Z-axis module 1003; the brush roller 300 is arranged on the mixing tube 1; the camera 400 is arranged between the brush roller 300 and the mixing tube 1, and extends outward;

[0117] The mixed delivery pipe, the gas delivery joint, the dry ice input pipe, the rotating shaft, the first driving member, the second driving member, the fixing plate, the detection bearing seat, the photoelectric sensor and the detection sheet follow the displacement adjustment of the three-axis displacement mechanism;

[0118] As in the above structure, the machine body 200 is a fixed main body, and the three-axis displacement mechanism 100 is used to drive the mixed injection nozzle to move, so as to achieve a wider range of adjustment, wherein the X-axis module 1001, the Y-axis module 1002 and the Z-axis module 1003 can be linear modules such as electric push rod linear modules, cylinder slide linear modules, etc.;

[0119] The brush roller 300 is arranged on one end of the mixing pipe 1 where the arc-shaped nozzle is arranged, and is used to realize the cleaning work. When the first driving member 5 drives the mixing pipe 1 to rotate, the brush roller 300 and the arc-shaped nozzle can be switched to perform different cleaning work. The switching action is detected by the photoelectric sensor 9 and the detection sheet 10.

[0120] Specifically, the brush roller 300 is connected to a water supply pipe, which is used to spray the activator onto the brush roller 300, and then the activator is applied to the product to be cleaned through the brush roller 300, thereby improving the convenience of cleaning dirt;

[0121] In some embodiments, the brush roller 300 is not provided, and only a water supply pipe is provided for spraying the activator.

[0122] like Figure 2 , Figure 6 and Fig. 9 As shown, two mixed-flow nozzles are provided in a mirror-image structure; the rotating shaft 4 includes a first shaft section 41, a second shaft section 42, a third shaft section 43, a supporting bearing seat 44 and a shaft seat 45, wherein the first shaft section 41 and the third shaft section 43 are each connected to a fixed plate 7; the first shaft section 41 and the third shaft section 43 are each rotatably connected to an shaft seat 45 at one end away from the fixed plate 7, and the dry ice input pipe 3 passes through the shaft seat 45; the two ends of the second shaft section 42 are each rotatably connected to an shaft seat 45; the supporting bearing seat 44 is provided on one of the fixed plates 7, and the supporting bearing seat 44 is rotatably connected to the first shaft section 41 and / or the second shaft section 42 and / or the third shaft section 43; the end of the first shaft section 41 away from the shaft seat 45 is rotatably connected to the movable end of the Z-axis module 1003;

[0123] As in the above structure, in order to further increase the cleaning range, two mixing nozzles are provided, and the two mixing nozzles are connected by a rotating shaft 4;

[0124] The first shaft section 41 is connected to the fixing plate 7, and the two are relatively fixed. The first shaft section 41 is rotatably connected to the body 200, so as to support the mixing nozzle to realize the up and down swinging action under the drive of the second driving member 6; the shaft seat 45 connected to the first shaft section 41 is relatively fixed to the first shaft section 41;

[0125] The second shaft section 42 is rotatably connected to the two shaft seats 45, and the third shaft section 43 is fixedly connected to the adjacent shaft seats 45. In this way, when the cam 62 is used for adjustment, the swing amplitudes of the two mixing pipes 1 may be different, but both swing around the rotating shaft 4, which improves the scope of application.

[0126] Specifically, since the mixed delivery pipe 1 is also connected to the fixed plate 7 via the detection bearing seat 8, the first shaft section 41 and the adjacent shaft seat 45 can also be rotatably connected. When the mixed delivery pipe 1 swings up and down, the mixed delivery pipe 1, the fixed plate 7, the shaft seat 45, the detection bearing seat 8 and the first driving member 5 and other components will move synchronously;

[0127] like Figure 1 , Figure 2 and Figure 4 As shown, one of the fixing plates 7 is in an L-shaped structure, so that there is space to install the supporting bearing seat 44 to support the rotating shaft 4, thereby ensuring the stability of the structure;

[0128] The other fixing plate 7 is a flat plate structure, one end of which is rotatably connected to the third shaft section 43, so as to avoid interference between the mixing pipe 1 far away from the Z-axis module 1003 when swinging, so that both mixing pipes 1 can swing by relying on the rotating shaft 4;

[0129] The supporting bearing seat 44 is arranged on the L-shaped fixing plate 7 to support the rotating shaft 4;

[0130] For ease of understanding, the mixed delivery pipe 1, the L-shaped fixing plate 7 and the supporting bearing seat 44 near the Z-axis module 1003 can be regarded as a whole, which rotates alone with the rotating shaft 4 as the axis;

[0131] The fixed plate 7 of the flat plate structure and the mixed delivery pipe 1 far away from the Z-axis module 1003 can be regarded as a whole, and they rotate independently with the rotating shaft 4 as the axis, so as to achieve non-interference;

[0132] The dry ice input pipe 3 is installed through the shaft seat 45 and then connected to the mixing pipe 1 .

[0133] At the same time, in this structure, due to the support effect of the cam in the second driving member 6, the overall stability of the mixing nozzle can be guaranteed, thereby improving the application reliability.

[0134] like Fig.11 and Fig.12 As shown, in the two mixing nozzles, one of the cams 62 is provided with a connecting tube 622, the two protrusions 621 of the cam 62 are not located on the same circumferential surface, and the two protrusions 621 each have a side surface 601 that is flush with each other;

[0135] As in the above structure, by controlling the two protrusions 621 to have the flat side surfaces 601, it is convenient to rotate the cam 62 to switch different protrusions 621 to correspond to the mixing pipe 1, thereby avoiding the problem of interference with the connection block 64;

[0136] Specifically, a side of the connecting block 64 facing the cam 62 may be configured to be semicircular.

[0137] The second driving member 6 also includes an adjusting member 67 and a follower 68, wherein the adjusting member 67 includes a main shaft 671, a third motor 672, a driving gear 673, a driven gear 674 and a positioning electric push rod 675, the main shaft 671 is connected in series with the cams 62 of the two mixing nozzles, and is connected to the output shaft of the second motor 61, the third motor 672 is arranged on the connecting cylinder 622, and the cam 62 of the connecting cylinder 622 is arranged, and is rotatably connected to the main shaft 671, the driving gear 673 is arranged on the output shaft of the third motor 672, the driven gear 674 is sleeved on the main shaft 671, and is meshed with the driving gear 673, the positioning electric push rod 675 is arranged on a protruding portion 621, and the movable end of the positioning electric push rod 675 passes through the cam 62 and is plugged into the main shaft 671;

[0138] As in the above structure, the two protrusions 621 of the control cam 62 are not located on the same circumferential surface, which facilitates the installation and positioning of the electric push rod 675;

[0139] The adjusting member 67 is used to switch the protruding portion 621 of the cam 62 and drive the cam 62 to rotate. The reciprocating rotation of the cam 62 drives the mixing pipe 1 to swing. When working, the main shaft 671 is connected to the second motor 61, so that the cam 62 can be driven to rotate by the second motor 61.

[0140] A connecting tube 622 is provided on one of the cams 62 of the two mixing nozzles to install a third motor 672, and the cam 62 is rotated in cooperation with the main shaft 671. When the protrusion 621 on the cam 62 is switched, the third motor 672 is actuated to drive the driving gear 673 to rotate, and then the entire rotation of the cam 62 can be achieved by the meshing of the driving gear 673 and the driven gear 674. When the cam 62 rotates with the main shaft 671 as the axis, the switching of the protrusion 621 is achieved.

[0141] In this way, the two cams 62 in the two mixing nozzles correspond to the mixing pipe 1 with different protrusions 621. At this time, the active end of the positioning electric push rod 675 is plugged into the main shaft 671 to achieve relative circumferential limitation of the cam 62 and the main shaft 671. When the main shaft 671 rotates, the cam 62 will rotate accordingly, thereby achieving a swinging action.

[0142] Specifically, corresponding sockets are provided on the main shaft 671 , and the number of the sockets is set corresponding to the number of the protrusions 621 on the cam 62 .

[0143] like Fig.11 and Fig.12As shown, the follower 68 includes a slide rail 681, a slider 682, a slide rod 683, a lifting push rod 684 and a base 685. The slide rail 681 is arranged on the machine body 200, the slider 682 is slidably connected to the slide rail 681, one end of the slide rod 683 is connected to the main shaft 671, and the other end is slidably connected to the slider 682, one end of the lifting push rod 684 is connected to the slider 682, and the other end is connected to the main shaft 671, and one end of the base 685 is connected to the slider 682, and the other end is connected to the movable end of the X-axis module 1001;

[0144] As in the above structure, the follower 68 is provided to avoid interference between the adjustment member 67 and the action of the three-axis displacement mechanism 100;

[0145] When performing actions, such as Fig.12 As shown, the main shaft 671 is slidably matched with the slider 682 through the slide bar 683, and the slider 682 is connected to the movable end of the X-axis module 1001 through the base 685. In this way, when the X-axis module 1001 drives the Y-axis module 1002, the Z-axis module 1003 and the mixed injection nozzle to move, the adjustment member 67 will move synchronously driven by the base 685, and the slider 682 is relied on to achieve X-direction sliding to avoid action interference. At the same time, the base 685 is used to install the second motor 61;

[0146] like Figure 1 and Fig.12 As shown, when the Z-axis module 1003 drives the mixed injection nozzle to move, the adjusting member 67 and the cam 62 and other components can move up and down under the drive of the lifting push rod 684 to avoid action interference; it should be noted that when setting the lifting push rod 684, the second motor 61 cannot be set on the machine base 685 to avoid interference and damage to the main shaft 671 and the second motor 61. At this time, the second motor 61 can be connected to the slider 682 or the machine base 685 through a lifting seat like the main shaft 671 to achieve synchronous lifting;

[0147] like Figure 1 , Fig. 9 and Fig.11 As shown, the Y-axis module 1002 drives the Z-axis module 1003 and the mixing pipe 1 to adjust, the adjusting member 67 and the cam 62 and other components do not follow the adjustment, and the follower 68 does not move. At this time, only the axial electric push rod 66 drives the connecting block 64 to move along the mixing pipe 1 to correspond to the cam 62; wherein the axial electric push rod 66 can be set as long as possible to match the stroke of the Y-axis module 1002;

[0148] As described above, the follower 68 and the axial electric push rod 66 can ensure that when the three-axis displacement mechanism 100 is adjusted, the various components can always work in coordination.

[0149] like Fig. 9 , Figure 13~Figure 15 As shown, a camera 400 is integrated on the machine body 200, which is used for visual inspection to locate the position of the workpiece to be cleaned;

[0150] The dry ice preparation assembly 500 is integrated inside the machine body 200, which is used to prepare dry ice particles and supply the dry ice input pipe 3 through a pipeline; of course, auxiliary components such as a pump and an activator container can also be integrated in the machine body 200;

[0151] The control module 600 is an electrical control component such as a computer, which is used for operating control of components such as motors, electric push rods, and sensors.

[0152] The application method of the dry ice cleaning machine of the present invention comprises the following steps:

[0153] Dry ice particles are input into the mixing pipe 1 through the dry ice input pipe 3, and compressed gas is input into the mixing pipe 1 through the gas supply connector 2, and the dry ice particles are sprayed out after being mixed with the compressed gas;

[0154] The first driving member 5 drives the mixing pipe 1 to rotate through the first motor 52, the driving pulley 53, the driven pulley 54 and the synchronous belt 55 to adjust the cleaning angle. The second driving member 6 adjusts the position of the cam 62 through the axial electric push rod 66, adjusts the angle of the cam 62 through the adjusting member 67, and positions the cam 62. Then, the cam 62 is driven to rotate through the second motor 61, so that the mixing pipe 1 is driven to rotate around the rotating shaft 4 through the cam 62 to achieve a reciprocating swinging motion.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dry ice cleaning machine, comprising a mixed-flow nozzle, characterized in that: The mixed delivery nozzle comprises a mixed delivery pipe (1), a gas delivery connector (2), a dry ice input pipe (3), a rotating shaft (4), a first driving member (5) and a second driving member (6), wherein: The mixing pipe (1) is provided with a compressed gas flow channel (101) and a dry ice flow channel (102) inside, and an arc-shaped nozzle is provided at one end of the mixing pipe (1); The gas delivery connector (2) and the dry ice input pipe (3) are both connected to the mixed delivery pipe (1), the gas delivery connector (2) is connected to the compressed gas flow channel (101), and the dry ice input pipe (3) is connected to the dry ice flow channel (102); One end of the rotating shaft (4) is connected to the dry ice input pipe (3), and the other end is connected to the fixed body; The first driving member (5) is used to drive the mixed delivery pipe (1) and the gas delivery connector (2) to rotate relative to the dry ice input pipe (3); The second driving member (6) is used to drive the mixed delivery pipe (1), the gas delivery connector (2) and the dry ice input pipe (3) to rotate with the rotating shaft (4) as the axis; The second driving member (6) comprises a second motor (61), a cam (62), a sliding bearing seat (63), a connecting block (64), a clamp (65) and an axial electric push rod (66), wherein the second motor (61) is relatively fixed to the fixed body; the cam (62) is arranged on the output shaft of the second motor (61), and the cam (62) is provided with at least two protrusions (621), and the radii of the two protrusions (621) are different; the sliding bearing seat (63) is sleeved on the mixing The mixing pipe (1) is mounted on the mixing pipe (1), and the sliding bearing seat (63) is rotatably and slidably connected to the mixing pipe (1); the connecting block (64) is connected to the sliding bearing seat (63), the connecting block (64) abuts against the cam (62), and round chamfers are arranged on both sides of the connecting block (64); the clamp (65) is sleeved on the mixing pipe (1); the axial electric push rod (66) is connected to the clamp (65), and the movable end of the axial electric push rod (66) is connected to the connecting block (64); In the dry ice cleaning machine, the mixed-flow nozzles are provided with two in a mirror-image structure, and the second driving member (6) further includes an adjusting member (67); In the two mixing nozzles, one of the cams (62) is provided with a connecting tube (622), the two protrusions (621) of the cam (62) are not located on the same circumferential surface, and the two protrusions (621) each have a side surface (601), and the two side surfaces (601) are flush with each other; The regulating member (67) comprises a main shaft (671), a third motor (672), a driving gear (673), a driven gear (674) and a positioning electric push rod (675). The main shaft (671) is connected in series with the cams (62) of the two mixing nozzles and is connected to the output shaft of the second motor (61). The third motor (672) is arranged on the connecting cylinder (622). The cam (62) of the connecting cylinder (622) is rotatably connected to the main shaft (671). The driving gear (673) is arranged on the output shaft of the third motor (672). The driven gear (674) is sleeved on the main shaft (671) and meshed with the driving gear (673). The positioning electric push rod (675) is arranged on one of the protruding portions (621), and the movable end of the positioning electric push rod (675) passes through the cam (62) and is plugged into the main shaft (671).

2. The dry ice cleaning machine according to claim 1, characterized in that: The mixed transport pipe (1) comprises a hollow joint (11), a casing (12), an inner pipe (13) and a protective pipe (14), wherein: The hollow joint (11) comprises a large diameter section (111), a tapered section (112), a small diameter section (113) and a supporting section (114) which are connected to each other; The large diameter section (111) is connected to the dry ice input pipe (3) and is rotatably sealed; The large diameter section (111) and the support section (114) are embedded in the sleeve (12), and the support section (114) has a flow channel connected to the compressed gas flow channel (101) and the gas transmission connector (2); The inner tube (13) is coaxially arranged in the sleeve (12) and is connected to the hollow joint (11).

3. The dry ice cleaning machine according to claim 1, characterized in that: It also includes a fixing plate (7), a detection bearing seat (8), a photoelectric sensor (9) and a detection sheet (10), wherein: One end of the fixing plate (7) is connected to the rotating shaft (4), and the rotating shaft (4) passes through the fixing plate (7); The detection bearing seat (8) is arranged on the fixing plate (7) and is rotatably connected to the mixing pipe (1); The photoelectric sensor (9) is arranged on the detection bearing seat (8); The detection sheet (10) is arranged on the mixing pipe (1).

4. The dry ice cleaning machine according to claim 3, characterized in that: The first driving member (5) comprises a bracket (51), a first motor (52), a driving pulley (53), a driven pulley (54), a synchronous belt (55) and a cover (56), wherein: The bracket (51) is connected to the fixing plate (7); The first motor (52) is arranged on the bracket (51); The driving pulley (53) is connected to the output shaft of the first motor (52); The driven pulley (54) is sleeved on the mixing pipe (1) and is relatively fixed; The synchronous belt (55) is connected to the driving pulley (53) and the driven pulley (54); The cover shell (56) is connected to the fixing plate (7) and is engaged with the driving pulley (53), the driven pulley (54) and the synchronous belt (55).

5. The dry ice cleaning machine according to claim 4, further comprising a three-axis displacement mechanism (100), a machine body (200), a brush roller (300) and a camera (400), wherein the three-axis displacement mechanism (100) comprises an X-axis module (1001), a Y-axis module (1002) and a Z-axis module (1003), and the three-axis displacement mechanism (100) is the fixed body, wherein: The X-axis module (1001) is arranged on the machine body (200); The Y-axis module (1002) is arranged on the movable end of the X-axis module (1001); The Z-axis module (1003) is arranged on the movable end of the Y-axis module (1002); The rotating shaft (4) is rotatably connected to the movable end of the Z-axis module (1003); The brush roller (300) is arranged on the mixing pipe (1); The camera (400) is arranged between the brush roller (300) and the mixing pipe (1), and extends outwards; The mixed delivery pipe (1), the gas delivery joint (2), the dry ice input pipe (3), the rotating shaft (4), the first driving member (5), the second driving member (6), the fixing plate (7), the detection bearing seat (8), the photoelectric sensor (9) and the detection sheet (10) are adjusted in displacement following the three-axis displacement mechanism (100).

6. The dry ice cleaning machine according to claim 5, characterized in that: The rotating shaft (4) comprises a first shaft section (41), a second shaft section (42), a third shaft section (43), a supporting bearing seat (44) and a shaft seat (45), wherein: The first shaft section (41) and the third shaft section (43) are each connected to one of the fixing plates (7); One end of the first shaft section (41) and the third shaft section (43) away from the fixed plate (7) is rotatably connected to a shaft seat (45), and the dry ice input pipe (3) passes through the shaft seat (45); Both ends of the second shaft section (42) are rotatably connected to one of the shaft seats (45); The supporting bearing seat (44) is arranged on one of the fixing plates (7), and the supporting bearing seat (44) is rotatably connected to the first shaft section (41) and / or the second shaft section (42) and / or the third shaft section (43); One end of the first shaft section (41) away from the shaft seat (45) is rotatably connected to the movable end of the Z-axis module (1003).

7. The dry ice cleaning machine according to claim 6, characterized in that: The second driving member (6) further comprises a follower (68), wherein: The follower (68) includes a slide rail (681), a slider (682), a slide rod (683), a lifting push rod (684) and a machine base (685); the slide rail (681) is arranged on the machine body (200); the slider (682) is slidably connected to the slide rail (681); one end of the slide rod (683) is connected to the main shaft (671), and the other end is slidably connected to the slider (682); one end of the lifting push rod (684) is connected to the slider (682), and the other end is connected to the main shaft (671); one end of the machine base (685) is connected to the slider (682), and the other end is connected to the movable end of the X-axis module (1001).

8. A method for using the dry ice cleaning machine as claimed in claim 7, characterized in that: The following steps are involved: Dry ice particles are input into the mixing pipe (1) through the dry ice input pipe (3), compressed gas is input into the mixing pipe (1) through the gas supply connector (2), and the dry ice particles and the compressed gas are sprayed out after mixing; The first driving member (5) drives the mixing pipe (1) to rotate through the first motor (52), the driving pulley (53), the driven pulley (54) and the synchronous belt (55), so as to adjust the cleaning angle. The second driving member (6) adjusts the position of the cam (62) through the axial electric push rod (66), adjusts the angle of the cam (62) through the adjusting member (67), and positions the cam (62), and then drives the cam (62) to rotate through the second motor (61), so that the mixing pipe (1) is driven by the cam (62) to rotate around the rotating shaft (4) as the axis, thereby realizing a reciprocating swinging motion.

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