Iron ring glue layer cleaning device integrating automatic cleaning and CCD (Charge Coupled Device) detection

Abstract

The invention provides an iron ring rubber layer cleaning device integrating automatic cleaning and CCD detection, belongs to the technical field of iron ring cleaning, and solves the technical problems that an existing iron ring rubber layer is low in cleaning efficiency, lacks dust collection and detection feedback functions and the like. Comprising a main rack, a CCD detection mechanism, a three-coordinate mechanical arm assembly and a cleaning and grinding platform are arranged on the upper layer in the main rack, an output area, an NG area and a feeding and loading platform are further arranged on the upper layer in the main rack, the output area is located on the rear side of the CCD detection mechanism, the NG area is located on the rear side of the cleaning and grinding platform, and iron ring collecting assemblies are arranged at the output area and the NG area correspondingly; the feeding and loading platform is located on the front side of the three-coordinate mechanical arm assembly, two fixing and clamping mechanisms are arranged on the three-coordinate mechanical arm assembly, and a cleaning and polishing head mechanism is arranged on the inner side wall of the main rack. According to the device, the iron rings can be sequentially subjected to integrated treatment of stable feeding, automatic cleaning and polishing, scrap waste liquid collection, polishing detection and classified output.

Description

Technical Field

[0001] The invention belongs to the technical field of iron ring cleaning, and relates to a glue layer cleaning device, in particular to an iron ring glue layer cleaning device integrating automatic cleaning and CCD detection. Background Art

[0002] Iron rings (such as bearing rings and sealing rings) are key components in mechanical equipment. Their surfaces are often coated with adhesives (such as anti-rust adhesives and sealants) for corrosion protection, sealing, or bonding. However, before subsequent processing or assembly, these adhesives must be thoroughly removed to ensure accuracy and performance. This is especially true in precision manufacturing (such as in the automotive and aerospace sectors), where demands for cleaning quality and inspection efficiency are increasing.

[0003] Pain points of existing technologies: In the cleaning process, manual cleaning relies on chemical solvent immersion and brushing, which results in solvent waste, environmental pollution and personnel health risks; cleaning efficiency is low and consistency is poor; automated cleaning equipment (such as ultrasonic cleaning) may cause adhesive layer residue or excessive cleaning to damage the substrate due to fixed parameters.

[0004] During the inspection process, traditional visual inspection or contact measurement cannot achieve full inspection, the sampling rate is low and it is easy to miss tiny adhesive residues; some companies use offline CCD inspection, which requires secondary loading and unloading, extending the production cycle.

[0005] Therefore, we propose a cleaning device for the iron ring adhesive layer which integrates automatic cleaning and CCD detection. Summary of the Invention

[0006] The purpose of the present invention is to address the above-mentioned problems in the existing technology and propose an iron ring glue layer cleaning device that integrates automatic cleaning and CCD detection. The technical problem to be solved by this invention is: how to achieve integrated processing of stable loading, automatic cleaning and polishing, collection of debris and waste liquid, polishing detection and classified output of iron rings in sequence.

[0007] The purpose of the present invention can be achieved through the following technical solutions: A device for cleaning the adhesive layer of an iron ring that integrates automatic cleaning and CCD detection includes a main frame. The internal upper layer of the main frame is provided with a CCD detection mechanism, a three-coordinate robotic arm assembly and a cleaning and polishing platform from left to right. The internal upper layer of the main frame is also provided with an output area, an NG area, and a loading and unloading platform. The output area is located on the rear side of the CCD detection mechanism, and the NG area is located on the rear side of the cleaning and polishing platform. Both the output area and the NG area are provided with an iron ring collection assembly. The loading and unloading platform is located on the front side of the three-coordinate robotic arm assembly. Two fixed clamping mechanisms are provided on the three-coordinate robotic arm assembly. A cleaning and polishing head mechanism is provided on the internal side wall of the main frame. The cleaning and polishing head mechanism is located above the cleaning and polishing platform.

[0008] The working principle of the present invention is as follows: the collected iron rings are manually placed on the loading platform, the top iron ring is clamped by the three-coordinate robot arm assembly and the fixed clamping mechanism of the 1st station, and the iron ring is placed in the center of the cleaning and polishing platform, and the cleaning and polishing platform adsorbs the iron ring; the three-coordinate robot arm assembly drives the two fixed clamping mechanisms to reset, and the top iron ring is clamped by the three-coordinate robot arm assembly and the fixed clamping mechanism of the 1st station, waiting for the material; the polishing head mechanism automatically cleans and polishes the glue layer on the iron ring; after polishing is completed, the polishing head mechanism rises and resets, and the polishing head mechanism self-cleans; the three-coordinate robot arm assembly and the fixed clamping mechanism of the 2nd station The clamping mechanism cooperates to clamp the polished iron ring and rotate it 180° counterclockwise, and place it on the CCD detection mechanism. After receiving the signal, the CCD detection mechanism drives the iron ring to rotate for detection; the three-coordinate robotic arm assembly cooperates with the fixed clamping mechanism of the 1st station to rotate the iron ring and place it on the cleaning and polishing platform, and the polishing head mechanism automatically cleans and polishes the glue layer on the iron ring; after the CCD detection mechanism completes the inspection, if it is qualified, the three-coordinate robotic arm assembly cooperates with the fixed clamping mechanism of the 2nd station to place the qualified products on the iron ring collection assembly in the output area. If the inspection is NG, the NG products are placed on the iron ring collection assembly in the NG area.

[0009] The three-coordinate robotic arm assembly includes an X-axis electric screw member fixed to the inner upper layer of the main frame, a Y-axis electric screw member is provided on the moving block of the X-axis electric screw member, a motor turntable is provided on the moving block of the Y-axis electric screw member, a Z-axis electric screw member is provided at the upper end of the motor turntable, and an L-shaped material feeding rack is provided on the moving block of the Z-axis electric screw member, the two ends of the material feeding rack are respectively 1 station and 2 station, two fixed clamping mechanisms are arranged at the lower end of the material feeding rack, and the positions of the two fixed clamping mechanisms are arranged vertically.

[0010] With the above structure, the X-axis electric screw drives the Y-axis electric screw to move in the X-axis direction, the Y-axis electric screw drives the motor turntable to move in the Y-axis direction, the motor turntable drives the Z-axis electric screw to rotate, and the Z-axis electric screw drives the reclaimer to move in the Z-axis direction, which can accurately position the reclaimer to the target position (such as the CCD detection station, grinding station, etc.); The X-axis electric screw, Y-axis electric screw, motor turntable and Z-axis electric screw cooperate to make the two fixed clamping mechanisms contact the iron ring → clamp → lift → transport to the target workstation → release; The two fixed clamping mechanisms are arranged vertically and can be used to process two iron rings simultaneously to improve efficiency.

[0011] The fixed clamping mechanism includes a three-pronged connecting rod, which is fixed under the material picking rack. A clamping cylinder is fixed to the middle of the lower end of the three-pronged connecting rod, and three linear upper slides evenly distributed around the circumference are fixed to the lower end of the three-pronged connecting rod. A linear lower slide is fixed to the three clamping jaws of the clamping cylinder, and a clamping jaw head is fixed to the end of the linear lower slide. A linear slider is provided between the linear lower slide and the linear upper slide above it.

[0012] With the above structure, the gripper cylinder serves as the driving source, and the telescopic movement of its three grippers is converted into horizontal sliding of the linear slide through the linear lower slide; the three grippers of the gripper cylinder move radially synchronously, driving the linear lower slide to slide up and down along the guide rail of the linear upper slide, and the parallel movement of the gripper head is ensured by the guidance of the linear slide; clamping action: the gripper head moves with the linear slide to clamp (when the cylinder extends) or loosen (when the cylinder contracts) the iron ring, and the uniform distribution structure of the three-pronged connecting rod ensures that the clamping force is evenly distributed.

[0013] The loading platform includes a plurality of fixed base rods, three limit blocks and a clamping push rod. The plurality of fixed base rods are fixed to the top of the inner lower layer of the main frame. The lower ends of the plurality of fixed base rods are fixed with a fixed base plate. A lifting motor is fixed on the fixed base plate. A lifting screw rod is provided for rotation in the middle of the fixed base plate. The lifting screw rod is transmission-connected to the output shaft of the lifting motor. A lifting slide plate is slidingly provided on the plurality of fixed base rods. The lifting slide plate is transmission-connected to the lifting screw rod. A plurality of lifting slide rods are fixed on the upper end of the lifting slide plate. The lifting slide rods extend into the inner upper layer of the main frame. A supporting plate is fixed to the upper end of the lifting slide bar, three limit blocks and a clamping push rod are fixed to the inner upper layer of the main frame, the telescopic end of the clamping push rod is fixed to a side block, a material diverter seat and a diverter push rod are fixed on the side block, an iron ring separation diverter is hinged on the material diverter seat, and the iron ring separation diverter is hinged to the telescopic end of the diverter push rod, the positions between the side block and the three limit blocks are evenly distributed around the circumference, the supporting plate is located between the side block and the three limit blocks, a position sensor is fixed on one of the limit blocks, and a limit protrusion is provided on the limit block opposite to the position of the material diverter seat.

[0014] Using the above structure, the collected iron rings are manually placed on the receiving plate, and the lifting motor drives the lifting screw to rotate, driving the lifting slide to move up and down along several fixed base rods. The lifting slide pushes the receiving plate up and down through the lifting slide bar to realize vertical transportation of materials (such as lifting the stacked iron rings from the lower layer to the position to be clamped). The position sensor detects whether the top iron ring is in place. After it is in place, the lifting motor stops working to ensure accurate material distribution; the three limit blocks are evenly distributed on the circumference, and together with the side blocks form a positioning space to ensure that the iron ring on the receiving plate is centered. The limit protrusion provides mechanical limit to limit the iron ring; the clamping push rod pushes the side block to move toward the iron ring, and cooperates with the limit block to realize radial clamping / loosening; the paddle push rod retracts and drives the iron ring separation paddle to swing around the hinge point, prying the top iron ring to separate it from the lower layer.

[0015] The cleaning and polishing platform includes an internal hollow platform box, which is fixed to the internal upper layer of the main frame, and the lower end of the platform box is connected to a waste recovery bucket connected to it, and the waste recovery bucket is connected to an external waste box, and the waste box is connected to a negative pressure fan. A plurality of high-pressure air nozzles are provided on the upper part of one side surface of the platform box, and the high-pressure air nozzles are connected to an external air pump. A plurality of alcohol nozzle heads are provided on the upper parts of the other three side surfaces of the platform box, and the alcohol nozzle heads are connected to an external alcohol tank through pipes, and the pipes are provided with a liquid injection pump. The upper end of the platform box is provided with a ring-shaped limit supporting seat, and the upper end of the limit supporting seat is provided with a plurality of circumferentially uniformly distributed retaining edge fixing blocks, and the limit supporting seat is provided with three circumferentially uniformly distributed clamping avoidance grooves and three circumferentially uniformly distributed magnet slots, the three clamping avoidance grooves and the three magnet slots are alternately distributed, and a positioning adsorption magnet is fixed inside each magnet slot.

[0016] With the above structure, the iron ring is transferred to a limit bearing seat, and a retaining edge fixing block on it prevents the iron ring from shifting; a positioning adsorption magnet is embedded in a magnet slot, which adsorbs the ferromagnetic iron ring through magnetic force to enhance stability; a clamping avoidance groove provides operating space for clamping to avoid interference; a high-pressure air nozzle (connected to an air pump) sprays high-speed airflow to blow away large particles of debris or dust on the surface of the iron ring; an alcohol nozzle head (connected to an alcohol tank and an injection pump) sprays alcohol solution to dissolve oil stains or finely clean the surface of the iron ring for fine decontamination; the cleaned waste liquid and debris fall into the platform box, and are sucked into the external waste box by a negative pressure fan through a waste recovery bucket to achieve automatic collection and complete closed-loop processing.

[0017] The cleaning and grinding head mechanism includes a grinding electric screw member, which is fixed on the inner side wall of the main frame, a connecting seat 1 is fixed on the sliding seat of the grinding electric screw member, a rotating motor is fixed on the upper end of the mounting seat, and a connecting seat 1 is rotatably provided at the lower end of the mounting seat, which is fixed on the output shaft of the rotating motor, and a grinding disc is fixed at the lower end of the connecting seat 1, a plurality of connecting screws evenly distributed around the circumference are provided on the connecting seat 1, the connecting screws pass through the connecting seat 1, and a grinding head is fixed at the lower end of the connecting screw, and the grinding head passes through the grinding disc, the grinding head is a spring floating grinding head, and a plurality of elastic positioning columns evenly distributed around the circumference are provided at the lower end of the grinding disc, a brush cylinder is fixed on the main frame of the grinding electric screw member, and a cleaning brush is fixed on the telescopic end of the brush cylinder.

[0018] With the above structure, the grinding electric screw drives the entire grinding mechanism to move vertically and adjust the grinding position. The rotating motor drives the grinding disc and grinding head to rotate at high speed through the connecting seat to grind the surface of the iron ring; the spring floating grinding head automatically adapts to the undulations of the iron ring surface to ensure uniform grinding pressure and avoid overload damage; the elastic positioning column contacts the surface of the iron ring before grinding to provide preliminary positioning and buffering to prevent hard collision; after the grinding is completed, the grinding electric screw drives the entire grinding mechanism to move vertically and rise to the specified height. The brush cylinder pushes the cleaning brush, and the cleaning brush extends under the grinding head. The rotating motor drives the grinding disc and grinding head to rotate through the connecting seat to clean the debris on the grinding disc and grinding head to prevent the accumulation of debris from affecting the grinding quality; the debris generated during the grinding process is collected by the waste recovery system of the cleaning and grinding platform below; after the processing is completed, the mechanism is reset and transferred to the next workstation.

[0019] The CCD detection mechanism includes a mounting frame fixed to the upper inner layer of the main frame, a mounting base and a protective cover, wherein two frame plates are fixed on the mounting frame, and the two frame plates are respectively provided with a fill light ring and a CCD camera, the fill light ring is located directly below the CCD camera, the mounting base is located inside the protective cover, a detection motor is fixed inside the mounting base, a connecting seat 2 is fixed on the upper end of the output shaft of the detection motor, the upper end of the connecting seat 2 extends out of the protective cover, and a bottom base plate is fixed on the upper end of the connecting seat 2, a ring-shaped limit supporting seat 2 is provided on the upper end of the limit supporting seat 2, a plurality of circumferentially evenly distributed retaining edge fixing blocks 2 are provided on the limit supporting seat 2, three circumferentially evenly distributed clamping avoidance grooves 2 and three circumferentially evenly distributed magnet slots 2 are opened on the limit supporting seat 2, the three clamping avoidance grooves 2 and the three magnet slots 2 are alternately distributed, and a positioning adsorption magnet 2 is fixed inside the magnet slot 2, and the fill light ring is located directly above the limit supporting seat 2.

[0020] With the above structure, the iron ring is transferred to the second limit support seat, fixed by the magnetic force of the second positioning adsorption magnet, and prevented from deflection by the second retaining block; the detection motor drives the second connecting seat and the base plate to rotate, driving the iron ring to rotate at a uniform speed, realizing 360° detection without dead angles; image acquisition: the CCD camera takes high-definition pictures of the surface of the iron ring, and the fill light ring provides uniform lighting to ensure that the image is free of shadows or reflections; data feedback: the collected image is transmitted to the control system to analyze whether the glue layer is polished to meet the standards; the second clamping avoidance groove provides operating space for clamping (such as avoidance when taking and placing the iron ring); the protective cover: isolates external environmental interference (such as dust and stray light) to improve detection stability.

[0021] The iron ring collection assembly includes a side stand and a collection plate. The side stands and the collection plates of the two iron ring collection assemblies are respectively fixed at the corresponding positions of the output area and the NG area on the inner upper layer of the main frame. The output area and the NG area on the inner upper layer of the main frame are both provided with positioning pins. Positioning pin holes are opened at the four corners of the collection plate, and the positioning pin holes correspond to the positions of the positioning pins. Four circumferentially evenly distributed limiting columns and four circumferentially evenly distributed handles are fixed to the upper end of the collection plate. The positions of the handles correspond to the positions of the limiting columns. The limiting columns are located on the inner sides of the handles at the corresponding positions. The side stands are located on the sides of the collection plate. An in-place sensor is fixed on the side stands, and the in-place sensor is directly opposite to the center position of the four limit columns.

[0022] With the above structure, qualified products are collected (output area), and the iron rings that have passed the inspection are transferred to the collection plate in the output area and positioned and stacked by the limit columns; unqualified products are collected (NG area), and unqualified iron rings are sorted to the collection plate in the NG area for automatic classification and storage; the collection plate is precisely docked with the positioning pins on the workstation through the positioning pin holes at the four corners to ensure that the placement position is consistent each time; the limit columns are evenly distributed on the four circumferences to limit the horizontal movement of the iron rings, so that the iron rings are stacked in the center to avoid tilting or sliding; the in-position sensor is fixed on the side stand to detect whether the iron ring has reached the center position of the collection plate, and feedback signal to the control system to trigger the next action; the handle makes it easy for the operator to extract the iron ring collection assembly and quickly replace the empty iron ring collection assembly.

[0023] Compared with the existing technology, this iron ring glue cleaning device that integrates automatic cleaning and CCD detection has the following advantages: it supports lifting, positioning and material distribution through the loading platform, and is suitable for the use of iron rings of different sizes; The three-coordinate robotic arm assembly and the fixed clamping mechanism are used to accurately grasp, transfer and position the iron ring, reducing manual intervention and improving production efficiency. The cleaning and grinding platform and the cleaning and grinding head mechanism use gas-liquid combined cleaning + floating grinding to achieve stable and efficient grinding and de-glueing of the iron ring. At the same time, the cleaning and grinding platform is integrated with a waste recovery hopper and a negative pressure suction system to automatically collect dust and waste liquid to keep the environment clean. The cleaning and grinding head mechanism can self-clean the grinding disc and grinding head to ensure the subsequent grinding and de-glueing effect. The CCD detection mechanism automatically completes the efficient quality inspection of the iron ring's glue removal; By cooperating with the output area and NG area and the iron ring collection component, qualified products can be output from the work station or unqualified products can be output from the NG area, realizing closed-loop control of the entire process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the general assembly structure of the present invention.

[0025] Figure 2It is a partial structural diagram of the loading platform in the present invention.

[0026] Figure 3 It is a structural schematic diagram of the elastic paddle part of the loading platform in the present invention.

[0027] Figure 4 It is a structural schematic diagram of the fixing clamping mechanism in the present invention.

[0028] Figure 5 It is a structural schematic diagram of the cleaning and polishing platform in the present invention.

[0029] Figure 6 It is a structural schematic diagram of the cleaning and polishing head mechanism of the present invention.

[0030] Figure 7 It is a partial structural diagram of the cleaning and polishing head mechanism of the present invention.

[0031] Figure 8 It is a schematic structural diagram of the end portion of the grinding head in the present invention.

[0032] Figure 9 It is a structural diagram of the CCD detection mechanism in the present invention.

[0033] Figure 10 It is a structural schematic diagram of the iron ring collection component in the present invention.

[0034] Figure 11 It is a schematic diagram of the action flow of the device in the present invention.

[0035] Figure 12 It is a timing diagram of the device in the present invention.

[0036] Figure 13 It is a schematic diagram of equipment parameters in the present invention.

[0037] 1. Main frame; 2. Output area; 3. CCD detection mechanism; 4. Loading platform; 5. Fixed clamping mechanism; 6. Cleaning and grinding platform; 7. NG area; 8. Cleaning and grinding head mechanism; 9. Three-coordinate robot arm assembly; 10. Loading plate; 11. Lifting slide; 12. Fixed base rod; 13. Fixed base plate; 14. Lifting motor; 15. Side block; 16. Paddle push rod; 17. Clamping push rod; 18. Limit block; 19. Limit bump; 20. Position sensor; 21. Paddle seat; 22. Iron ring separation paddle; 23. Linear slide seat; 24. Three-pronged connecting rod; 25. Gripper cylinder; 26. Linear upper slide; 27. Linear slide; 28. Gripper head; 29. ​​Waste recovery hopper; 30. Platform box; 31. High-pressure gas nozzle; 32. Alcohol nozzle head; 33. Positioning adsorption magnet 1; 34. Side retaining block 1; 35. Positioning support seat 1; 36. Grinding electric screw; 37. Cleaning brush; 38. Brush cylinder; 39. Elastic positioning column; 40. Grinding disc; 41. Connecting screw; 42. Connecting seat 1; 43. Rotating motor; 44. Mounting seat; 45. Grinding head; 46. Mounting frame; 47. Filling light ring; 48. Frame; 49. CCD camera; 50. Positioning adsorption magnet 2; 51. Connecting seat 2; 5 2. Limit bearing seat 2; 53. Side retaining block 2; 54. Bottom base; 55. Mounting base; 56. Detection motor; 57. Protective cover; 58. Side stand; 59. In-position sensor; 60. Limit column; 61. Collecting plate; 62. Handle; 63. Positioning pin hole; 64. Motor turntable; 65. Z-axis electric screw; 66. Removal rack; 67. Y-axis electric screw; 68. X-axis electric screw. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0039] like Figures 1-10 As shown, the iron ring glue layer cleaning device integrating automatic cleaning and CCD detection includes a main frame 1. The upper inner layer of the main frame 1 is provided with a CCD detection mechanism 3, a three-coordinate robotic arm assembly 9 and a cleaning and polishing platform 6 from left to right. The upper inner layer of the main frame 1 is also provided with an output area 2, an NG area 7, and a loading platform 4. The output area 2 is located on the rear side of the CCD detection mechanism 3, and the NG area 7 is located on the rear side of the cleaning and polishing platform 6. Both the output area 2 and the NG area 7 are provided with an iron ring collection assembly. The loading platform 4 is located on the front side of the three-coordinate robotic arm assembly 9. Two fixed clamping mechanisms 5 are provided on the three-coordinate robotic arm assembly 9. A cleaning and polishing head mechanism 8 is provided on the inner side wall of the main frame 1, and the cleaning and polishing head mechanism 8 is located above the cleaning and polishing platform 6.

[0040] The collected iron rings are manually placed on the loading platform 4, and the top iron ring is clamped by the three-coordinate robot arm assembly 9 and the fixed clamping mechanism 5 of the 1st station, and the iron ring is placed in the center of the cleaning and polishing platform 6, and the cleaning and polishing platform 6 adsorbs the iron ring; the three-coordinate robot arm assembly 9 drives the two fixed clamping mechanisms 5 to reset, and the top iron ring is clamped by the three-coordinate robot arm assembly 9 and the fixed clamping mechanism 5 of the 1st station, waiting for the material; the polishing head mechanism 8 automatically cleans and polishes the glue layer on the iron ring; after polishing is completed, the polishing head mechanism 8 rises and resets, and the polishing head mechanism 8 self-cleans; the three-coordinate robot arm assembly 9 and the fixed clamping mechanism of the 2nd station 5 cooperates to clamp the polished iron ring and rotate it 180° counterclockwise, and place it on the CCD detection mechanism 3. After receiving the signal, the CCD detection mechanism 3 drives the iron ring to rotate for detection; the three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the 1st station to rotate the iron ring and place it on the cleaning and polishing platform 6, and the polishing head mechanism 8 automatically cleans and polishes the glue layer on the iron ring; after the CCD detection mechanism 3 completes the inspection, if the qualified product is qualified, the three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the 2nd station to place the qualified product on the iron ring collection assembly in the output area 2. If the detection is NG, the NG product is placed on the iron ring collection assembly in the NG area 7.

[0041] The three-coordinate robotic arm assembly 9 includes an X-axis electric screw component 68 fixed to the upper inner layer of the main frame 1, a Y-axis electric screw component 67 is provided on the moving block of the X-axis electric screw component 68, a motor turntable 64 is provided on the moving block of the Y-axis electric screw component 67, a Z-axis electric screw component 65 is provided at the upper end of the motor turntable 64, and an L-shaped material feeding rack 66 is provided on the moving block of the Z-axis electric screw component 65, the two ends of the material feeding rack 66 are respectively 1 station and 2 station, two fixed clamping mechanisms 5 are arranged at the lower end of the material feeding rack 66, and the positions of the two fixed clamping mechanisms 5 are arranged vertically.

[0042] The X-axis electric screw component 68 drives the Y-axis electric screw component 67 to move in the X-axis direction, the Y-axis electric screw component 67 drives the motor turntable 64 to move in the Y-axis direction, the motor turntable 64 drives the Z-axis electric screw component 65 to rotate, and the Z-axis electric screw component 65 drives the material rack 66 to move in the Z-axis direction, which can accurately position the material rack 66 to the target position (such as the CCD detection station, the grinding station, etc.); the X-axis electric screw component 68, the Y-axis electric screw component 67, the motor turntable 64 and the Z-axis electric screw component 65 cooperate to make the two fixed clamping mechanisms 5 contact the iron ring → clamp → lift → transport to the target station → release; the two fixed clamping mechanisms 5 are arranged vertically, which may be used to: synchronously process two iron rings to improve efficiency.

[0043] The fixed clamping mechanism 5 includes a three-pronged connecting rod 24, which is fixed below the material picking rack 66. A clamping cylinder 25 is fixed to the middle of the lower end of the three-pronged connecting rod 24, and three linear upper slides 26 evenly distributed around the circumference are fixed to the lower end of the three-pronged connecting rod 24. A linear lower slide 23 is fixed to the three clamping jaws of the clamping cylinder 25, and a clamping jaw head 28 is fixed to the end of the linear lower slide 23. A linear slider 27 is provided between the linear lower slide 23 and the linear upper slide 26 above it.

[0044] The clamping jaws of the clamping jaw cylinder 25 serve as the driving source, and the telescopic movement of its three clamping jaws is converted into the horizontal sliding of the linear slide 27 through the linear lower slide 23; the three clamping jaws of the clamping jaw cylinder 25 move radially synchronously, driving the linear lower slide 23 to slide up and down along the guide rail of the linear upper slide 26, and the parallel movement of the clamping jaw head 28 is ensured by the guidance of the linear slide 27; clamping action: the clamping jaw head 28 moves with the linear lower slide 23 to achieve the clamping (when the cylinder extends) or loosening (when the cylinder contracts) of the iron ring, and the uniformly distributed structure of the three-pronged connecting rod 24 ensures that the clamping force is evenly distributed.

[0045] The loading platform 4 includes a plurality of fixed base rods 12, three limit blocks 18 and a clamping push rod 17. The plurality of fixed base rods 12 are fixed to the top of the lower layer of the main frame 1. The lower ends of the plurality of fixed base rods 12 are fixed with fixed base plates 13. A lifting motor 14 is fixed on the fixed base plate 13. A lifting screw rod is provided in the middle of the fixed base plate 13 for rotation. The lifting screw rod is connected to the output shaft of the lifting motor 14 by transmission. A lifting slide plate is provided on the plurality of fixed base rods 12 for sliding. The lifting slide plate is connected to the lifting screw rod by transmission. A plurality of lifting slide rods 11 are fixed to the upper end of the lifting slide plate. The lifting slide rod 11 extends into the upper layer of the main frame 1. The upper end of the lifting slide rod 11 is fixed There is a fixed placing plate 10, three limit blocks 18 and a clamping push rod 17 are fixed on the inner upper layer fixed to the main frame 1, the telescopic end of the clamping push rod 17 is fixed with a side block 15, a material digging seat 21 and a paddle push rod 16 are fixed on the side block 15, an iron ring separation paddle 22 is hinged on the material digging seat 21, and the iron ring separation paddle 22 is hinged to the telescopic end of the paddle push rod 16. The positions between the side block 15 and the three limit blocks 18 are evenly distributed around the circumference, and the placing plate 10 is located between the side block 15 and the three limit blocks 18, one of the limit blocks 18 is fixed with a position sensor 20, and a limit protrusion 19 is provided on the limit block 18 opposite to the position of the material digging seat 21.

[0046] The collected iron rings are manually placed on the receiving plate 10, and the lifting motor 14 drives the lifting screw to rotate, driving the lifting slide plate to move up and down along several fixed base rods 12. The lifting slide plate pushes the receiving plate 10 to move up and down through the lifting slide bar 11 to realize vertical transportation of materials (such as lifting the stacked iron rings from the lower layer to the position to be clamped). The position sensor 20 detects whether the top iron ring is in place. After it is in place, the lifting motor 14 stops working to ensure accurate material distribution; the three limit blocks 18 are evenly distributed on the circumference and form a positioning space together with the side blocks 15 to ensure that the iron rings on the receiving plate 10 are centered. The limit protrusion 19 provides mechanical limit to limit the iron rings; the clamping push rod 17 pushes the side blocks 15 to move toward the iron rings, and cooperates with the limit blocks 18 to realize radial clamping / loosening; the paddle push rod 16 retracts and drives the iron ring separation paddle 22 to swing around the hinge point, prying the top iron ring to separate it from the lower layer.

[0047] The cleaning and polishing platform 6 includes a hollow platform box 30, which is fixed to the upper layer of the main frame 1. The lower end of the platform box 30 is connected to a waste recovery bucket 29 connected thereto, and the waste recovery bucket 29 is connected to an external waste box, which is connected to a negative pressure fan. A plurality of high-pressure gas nozzles 31 are provided on the upper side of one side of the platform box 30, and the high-pressure gas nozzles 31 are connected to an external air pump. The upper parts of the other three sides of the platform box 30 are each provided with a plurality of alcohol nozzle heads 32, and the alcohol nozzle heads 32 is connected to an external alcohol tank through a pipeline, and a liquid injection pump is provided on the pipeline. The upper end of the platform box 30 is provided with a ring-shaped limit support seat 35, and the upper end of the limit support seat 35 is provided with a plurality of circumferentially evenly distributed retaining edge fixing blocks 34. The limit support seat 35 is provided with three circumferentially evenly distributed clamping avoidance grooves 1 and three circumferentially evenly distributed magnet grooves 1. The three clamping avoidance grooves 1 and the three magnet grooves 1 are alternately distributed, and a positioning adsorption magnet 33 is fixed inside each magnet groove 1.

[0048] The iron ring is transferred to a limit bearing seat 35, on which a retaining edge fixing block 34 prevents the iron ring from shifting; a positioning adsorption magnet 33 is embedded in a magnet slot 1, which adsorbs the ferromagnetic iron ring through magnetic force to enhance stability; a clamping avoidance slot 1 provides an operating space for clamping to avoid interference; a high-pressure air nozzle 31 (connected to an air pump) ejects a high-speed airflow to sweep away large particles of debris or dust on the surface of the iron ring; an alcohol nozzle head 32 (connected to an alcohol tank and an injection pump) sprays an alcohol solution to dissolve oil stains or finely clean the surface of the iron ring for fine decontamination; the cleaned waste liquid and debris fall into a platform box 30, and are sucked into an external waste box by a negative pressure fan through a waste recovery bucket 29, for automatic collection, completing closed-loop processing.

[0049] The cleaning and grinding head mechanism 8 includes a grinding electric screw rod 36, which is fixed on the inner side wall of the main frame 1. A connecting seat 42 is fixed on the sliding seat of the grinding electric screw rod 36. A rotating motor 43 is fixed on the upper end of the mounting seat 44. The lower end of the mounting seat 44 is rotatably provided with a connecting seat 42, which is fixed on the output shaft of the rotating motor 43. A grinding disc 40 is fixed on the lower end of the connecting seat 42. A plurality of connecting screws 41 are evenly distributed around the circumference are provided on the connecting seat 42. The connecting screws 41 pass through the connecting seat 42. A grinding head 45 is fixed at the lower end of the connecting screw 41, and the grinding head 45 passes through the grinding disc 40. The grinding head 45 is a spring floating grinding head. A plurality of elastic positioning columns 39 are evenly distributed around the circumference are provided at the lower end of the grinding disc 40. A brush cylinder 38 is fixed on the main frame of the grinding electric screw rod 36, and a cleaning brush 37 is fixed on the telescopic end of the brush cylinder 38.

[0050] The grinding electric screw rod 36 drives the entire grinding mechanism to move vertically and adjust the grinding position. The rotating motor 43 drives the grinding disc 40 and the grinding head 45 to rotate at high speed through the connecting seat 1 42 to grind the surface of the iron ring; the spring floating grinding head 45 automatically adapts to the undulations on the iron ring surface to ensure uniform grinding pressure and avoid overload damage; the elastic positioning column 39 contacts the surface of the iron ring before grinding to provide preliminary positioning and buffering to prevent hard collision; after the grinding is completed, the grinding electric screw rod 36 drives the entire grinding mechanism to move vertically and rise to the specified height. The brush cylinder 38 pushes the cleaning brush 37, and the cleaning brush 37 extends under the grinding head 45. The rotating motor 43 drives the grinding disc 40 and the grinding head 45 to rotate through the connecting seat 1 42 to clean the debris on the grinding disc 40 and the grinding head 45 to prevent the accumulation of debris from affecting the grinding quality; the debris generated during the grinding process is collected by the waste recovery system of the cleaning and grinding platform 6 below; after the processing is completed, the mechanism is reset and flows to the next station.

[0051] The CCD detection mechanism 3 includes a mounting frame 46 fixed to the upper inner layer of the main frame 1, a mounting base 55 and a protective cover 57. Two frame plates 48 are fixed to the mounting frame 46. The two frame plates 48 are respectively provided with a fill light ring 47 and a CCD camera 49. The fill light ring 47 is located directly below the CCD camera 49. The mounting base 55 is located inside the protective cover 57. A detection motor 56 is fixed inside the mounting base 55. The upper end of the output shaft of the detection motor 56 is fixed to a second connecting seat 51. The upper end of the connecting seat 51 extends out of the protective cover 57. 7. A bottom base plate 54 is fixed to the upper end of the connecting seat 51, and a ring-shaped limit receiving seat 52 is provided on the upper end of the bottom base plate 54. A plurality of circumferentially evenly distributed retaining edge fixing blocks 53 are provided on the upper end of the limit receiving seat 52. Three circumferentially evenly distributed clamping avoidance grooves 2 and three circumferentially evenly distributed magnet grooves 2 are provided on the limit receiving seat 52. The three clamping avoidance grooves 2 and the three magnet grooves 2 are alternately distributed. A positioning adsorption magnet 50 is fixed inside the magnet groove 2. The fill light ring 47 is located directly above the limit receiving seat 52.

[0052] The iron ring is transferred to the limited supporting seat 2 52, and is magnetically fixed by the positioning adsorption magnet 2 50, and the retaining edge fixing block 2 53 prevents displacement; the detection motor 56 drives the connecting seat 2 51 and the base plate 54 to rotate, driving the iron ring to rotate at a uniform speed, realizing 360° detection without dead angles; image acquisition: the CCD camera 49 takes high-definition pictures of the surface of the iron ring, and the fill light ring 47 provides uniform lighting to ensure that the image is free of shadows or reflections; data feedback: the collected image is transmitted to the control system to analyze whether the glue layer is polished to meet the standards; the clamping avoidance groove 2 provides operating space for clamping (such as avoidance when taking and placing the iron ring); the protective cover 57: isolates external environmental interference (such as dust, stray light) to improve detection stability.

[0053] The iron ring collection assembly includes a side frame 58 and a collection plate 61. The side frames 58 and the collection plate 61 of the two iron ring collection assemblies are respectively fixed at the corresponding positions of the output area 2 and the NG area 7 on the inner upper layer of the main frame 1. The output area 2 and the NG area 7 on the inner upper layer of the main frame 1 are both provided with positioning pins. Positioning pin holes 63 are opened at the four corners of the collection plate 61. The positioning pin holes 63 correspond to the positions of the positioning pins. Four circumferentially evenly distributed limiting columns 60 and four circumferentially evenly distributed handles 62 are fixed at the upper end of the collection plate 61. The handles 62 correspond to the positions of the limiting columns 60. The limiting columns 60 are located on the inner side of the handles 62 at the corresponding positions. The side frames 58 are located on the side of the collection plate 61. An in-position sensor 59 is fixed on the side frames 58. The in-position sensor 59 is directly opposite to the center position of the four limiting columns 60.

[0054] Qualified products are collected (output area 2), and the iron rings that have passed the inspection are transferred to the collection plate 61 of the output area 2 and positioned and stacked by the limiting columns 60; unqualified products are collected (NG area 7), and unqualified iron rings are sorted to the collection plate 61 of the NG area 7 for automatic classification and storage; the collection plate 61 is precisely docked with the positioning pins on the workstation through the positioning pin holes 63 at the four corners to ensure that the placement position is consistent each time; the limiting columns 60 are evenly distributed on the four circumferences to limit the horizontal movement of the iron rings, so that the iron rings are stacked in the center to avoid tilting or sliding; the in-position sensor 59 is fixed on the side stand 58 to detect whether the iron ring has reached the center position of the collection plate, and feedback the signal to the control system to trigger the next action; the handle 62 makes it convenient for the operator to extract the iron ring collection assembly and quickly replace the empty iron ring collection assembly.

[0055] The working principle of the present invention (such as Figure 11 As shown in the figure): manually place the empty iron ring collection assembly into the output area 2 and the NG area 7; manually place the collected iron rings (Frame) onto the holding plate 10; The X-axis electric screw 68 drives the Y-axis electric screw 67 to move in the X-axis direction, the Y-axis electric screw 67 drives the motor turntable 64 to move in the Y-axis direction, the motor turntable 64 drives the Z-axis electric screw 65 to rotate, and the Z-axis electric screw 65 drives the material reclaimer 66 to move in the Z-axis direction, which can accurately position the material reclaimer 66 to the target position (such as the CCD detection station, the grinding station, etc.); The top iron ring is clamped by the three-coordinate robot arm assembly 9 and the fixed clamping mechanism 5 of the 1st station, that is, the clamping claw cylinder 25 is used as the driving source, and the telescopic movement of its three clamping claws is converted into the horizontal sliding of the linear slide 27 through the linear lower seat 23; the three clamping claws of the clamping claw cylinder 25 move radially synchronously, driving the linear lower seat 23 to slide up and down along the guide rail of the linear upper slide 26, and the parallel movement of the clamping claw head 28 is ensured by the guidance of the linear slide 27; clamping action: the clamping claw head 28 moves with the linear lower seat 23 to achieve clamping of the iron ring; the clamping avoidance groove 1 provides operating space for the clamping claw head 28; It is transferred to the limiting support seat 1 35, where the retaining edge fixing block 1 34 prevents the iron ring from shifting, and the positioning adsorption magnet 1 33 is embedded in the magnet slot 1, which attracts the ferromagnetic iron ring through magnetic force to enhance stability; The three-coordinate robot arm assembly 9 drives the two fixed clamping mechanisms 5 to reset, and the three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the first station to clamp the iron ring at the top to wait for the material; The grinding electric screw member 36 drives the entire grinding mechanism to move vertically along the iron ring to adjust the grinding position. The rotating motor 43 drives the iron ring grinding disc 40 and the iron ring grinding head 45 to rotate at high speed through the iron ring connecting seat 42 to grind the iron ring surface; the spring floating grinding head 45 automatically adapts to the undulations of the iron ring surface to ensure uniform grinding pressure and avoid overload damage. After the grinding is completed, the grinding head mechanism 8 rises and resets, and the grinding head mechanism 8 self-cleans, that is, the brush cylinder 38 pushes the cleaning brush 37, and the cleaning brush 37 extends to the bottom of the grinding head 45. The rotating motor 43 drives the grinding disc 40 and the grinding head 45 to rotate through the connecting seat 1 42, cleaning the debris on the grinding disc 40 and the grinding head 45 to prevent the accumulation of debris from affecting the grinding quality; the debris generated during the grinding process is collected by the waste recovery system of the cleaning and grinding platform 6 below; The three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the second station to clamp the polished iron ring and rotate it 180° counterclockwise, and place it at the CCD detection mechanism 3, that is, the iron ring is transferred to the limit support seat 2 52, and is magnetically fixed by the positioning adsorption magnet 2 50, and the retaining edge fixing block 2 53 prevents deviation; the detection motor 56 drives the connecting seat 2 51 and the base plate 54 to rotate, driving the iron ring to rotate at a uniform speed to achieve 360° no-dead-angle detection; image acquisition: the CCD camera 49 takes high-definition photos of the surface of the iron ring, and the fill light ring 47 provides uniform lighting to ensure that the image is free of shadows or reflections; data feedback: the collected image is transmitted to the control system to analyze whether the glue layer is polished to the standard; the clamping avoidance groove 2 provides operating space for clamping (such as avoiding when taking and placing the iron ring); the protective cover 57: isolates external environmental interference (such as dust, stray light) to improve detection stability; The three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the first station to rotate and place the iron ring on the cleaning and polishing platform 6, and the polishing head mechanism 8 automatically cleans and polishes the glue layer on the iron ring; After the CCD detection mechanism 3 completes the inspection, if the qualified products are detected, the three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 of the 2nd station to place the qualified products on the iron ring collection assembly at the output area 2. If the detection is NG, the NG products are placed on the iron ring collection assembly at the NG area 7, that is, the qualified products are collected (output area 2), and the qualified iron rings are transferred to the collection plate 61 of the output area 2 and positioned and stacked by the limit column 60; the unqualified products are collected (NG area 7), and the unqualified iron rings are sorted to the collection plate 61 of the NG area 7 for automatic classification and storage; the collection plate 61 is precisely docked with the positioning pins on the station through the positioning pin holes 63 at the four corners to ensure that the placement position is consistent each time; the limit columns 60 are evenly distributed on the four circumferences to limit the horizontal movement of the iron rings, so that the iron rings are stacked in the center to avoid tilting or sliding; the in-place sensor 59 is fixed on the side stand 58 to detect whether the iron ring has reached the center position of the collection plate, and feedback signal to the control system to trigger the next action; the handle 62 makes it convenient for the operator to extract the iron ring collection assembly and quickly replace the empty iron ring collection assembly; The device timing diagram of the above workflow is as follows: Figure 12 shown.

[0056] Equipment parameters of some of the above components, such as Figure 13 shown.

[0057] In summary, the loading platform 4 supports lifting, positioning and material distribution, and is suitable for the use of iron rings of different sizes; The three-coordinate robot arm assembly 9 cooperates with the fixed clamping mechanism 5 to achieve accurate grasping, transfer and positioning of the iron ring, reducing manual intervention and improving production efficiency; The cleaning and polishing platform 6 and the cleaning and polishing head mechanism 8 adopt gas-liquid combined cleaning + floating polishing to stably and efficiently polish and remove glue from the iron ring; at the same time, the cleaning and polishing platform 6 is integrated with a waste recovery bucket and a negative pressure suction system to automatically collect dust and waste liquid to keep the environment clean; the cleaning and polishing head mechanism 8 can perform self-cleaning of the polishing disc 40 and the polishing head 45 to ensure the subsequent polishing and de-glueing effect; The CCD detection mechanism 3 automatically completes the efficient quality inspection of the iron ring's glue removal; By cooperating with the output area 2 and the NG area 7 and the iron ring collection component, qualified products can be output from the output area 2 or unqualified products can be output from the NG area 7, realizing closed-loop control of the entire process.

[0058] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. An iron ring adhesive cleaning device integrating automatic cleaning and CCD detection, including a main frame (1), characterized in that: The upper layer of the interior of the main frame (1) is provided with a CCD detection mechanism (3), a three-coordinate robot arm assembly (9) and a cleaning and polishing platform (6) in sequence from left to right. The upper layer of the interior of the main frame (1) is also provided with an output area (2), an NG area (7), and a loading platform (4). The output area (2) is located at the rear side of the CCD detection mechanism (3), and the NG area (7) is located at the rear side of the cleaning and polishing platform (6). The output area (2) and the NG area (7) are both provided with an iron ring collection assembly. The loading platform (4) is located at the front side of the three-coordinate robot arm assembly (9). Two fixed clamping mechanisms (5) are provided on the three-coordinate robot arm assembly (9). A cleaning and polishing head mechanism (8) is provided on the inner side wall of the main frame (1), and the cleaning and polishing head mechanism (8) is located above the cleaning and polishing platform (6).

2. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 1 is characterized in that: The three-coordinate robot arm assembly (9) includes an X-axis electric screw member (68) fixed to the inner upper layer of the main frame (1), a Y-axis electric screw member (67) is provided on the moving block of the X-axis electric screw member (68), a motor turntable (64) is provided on the moving block of the Y-axis electric screw member (67), a Z-axis electric screw member (65) is provided on the upper end of the motor turntable (64), and an L-shaped material retrieving rack (66) is provided on the moving block of the Z-axis electric screw member (65), the two ends of the material retrieving rack (66) are respectively 1 station and 2 station, two fixed clamping mechanisms (5) are provided at the lower end of the material retrieving rack (66), and the positions of the two fixed clamping mechanisms (5) are vertically arranged.

3. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 2 is characterized in that: The fixed clamping mechanism (5) includes a three-pronged connecting rod (24), which is fixed below the material retrieving rack (66). A clamping claw cylinder (25) is fixed to the middle of the lower end of the three-pronged connecting rod (24), and three circumferentially evenly distributed linear upper slides (26) are fixed to the lower end of the three-pronged connecting rod (24). A linear lower slide (23) is fixed to the three clamping claws of the clamping claw cylinder (25), and a clamping claw head (28) is fixed to the end of the linear lower slide (23). A linear slider (27) is provided between the linear lower slide (23) and the linear upper slide (26) above it.

4. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 3 is characterized in that: The loading platform (4) includes a plurality of fixed base rods (12), three limit blocks (18) and a clamping push rod (17), wherein the plurality of fixed base rods (12) are fixed to the top of the inner lower layer of the main frame (1), the lower ends of the plurality of fixed base rods (12) are fixed with a fixed base plate (13), a lifting motor (14) is fixed on the fixed base plate (13), a lifting screw is provided in the middle of the fixed base plate (13), the lifting screw is connected to the output shaft of the lifting motor (14), a lifting slide is provided on the plurality of fixed base rods (12), the lifting slide is connected to the lifting screw, the upper end of the lifting slide is fixed with a plurality of lifting slides (11), the lifting slides (11) extend into the inner upper layer of the main frame (1), and a supporting plate is fixed on the upper end of the lifting slide (10), three limit blocks (18) and a clamping push rod (17) are fixed to the inner upper layer fixed to the main frame (1), the telescopic end of the clamping push rod (17) is fixed with a side block (15), a material picking seat (21) and a paddle push rod (16) are fixed on the side block (15), an iron ring separation paddle (22) is hinged on the material picking seat (21), the iron ring separation paddle (22) is hinged to the telescopic end of the paddle push rod (16), the position between the side block (15) and the three limit blocks (18) is evenly distributed, the placing plate (10) is located between the side block (15) and the three limit blocks (18), a position sensor (20) is fixed on one of the limit blocks (18), and a limit convex block (19) is provided on the limit block (18) that is opposite to the position of the material picking seat (21).

5. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 4 is characterized in that: The cleaning and polishing platform (6) includes a hollow platform box (30) fixed to the upper inner layer of the main frame (1), the lower end of the platform box (30) is connected to a waste recovery bucket (29) connected thereto, the waste recovery bucket (29) is connected to an external waste box, the waste box is connected to a negative pressure fan, a plurality of high-pressure air nozzles (31) are provided on the upper side of one side of the platform box (30), the high-pressure air nozzles (31) are connected to an external air pump, and a plurality of alcohol nozzle heads (32) are provided on the upper parts of the other three side surfaces of the platform box (30) The alcohol nozzle head (32) is connected to an external alcohol tank through a pipeline, and a liquid injection pump is provided on the pipeline. The upper end of the platform box (30) is provided with a ring-shaped limit support seat (35), and the upper end of the limit support seat (35) is provided with a plurality of circumferentially evenly distributed retaining edge fixing blocks (34). The limit support seat (35) is provided with three circumferentially evenly distributed clamping avoidance grooves and three circumferentially evenly distributed magnet grooves. The three clamping avoidance grooves and the three magnet grooves are alternately distributed, and a positioning adsorption magnet (33) is fixed inside each magnet groove.

6. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 5 is characterized in that: The cleaning and grinding head mechanism (8) includes a grinding electric screw member (36), which is fixed on the inner side wall of the main frame (1), a connecting seat (42) is fixed on the sliding seat of the grinding electric screw member (36), a rotating motor (43) is fixed on the upper end of the mounting seat (44), a connecting seat (42) is rotatably provided on the lower end of the mounting seat (44), the connecting seat (42) is fixed on the output shaft of the rotating motor (43), a grinding disc (40) is fixed on the lower end of the connecting seat (42), and the connecting seat ( 42) is provided with a plurality of circumferentially evenly distributed connecting screws (41), the connecting screws (41) pass through the connecting seat (42), the lower ends of the connecting screws (41) are fixed with grinding heads (45), and the grinding heads (45) pass through the grinding disc (40), the grinding heads (45) are spring floating grinding heads, and the lower end of the grinding disc (40) is provided with a plurality of circumferentially evenly distributed elastic positioning columns (39), the main frame of the grinding electric screw member (36) is fixed with a brush cylinder (38), and the telescopic end of the brush cylinder (38) is fixed with a cleaning brush (37).

7. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 6 is characterized in that: The CCD detection mechanism (3) includes a mounting frame (46) fixed to the upper inner layer of the main frame (1), a mounting base (55) and a protective cover (57), two frame plates (48) are fixed on the mounting frame (46), and the two frame plates (48) are respectively provided with a supplementary light ring (47) and a CCD camera (49), the supplementary light ring (47) is located directly below the CCD camera (49), the mounting base (55) is located inside the protective cover (57), a detection motor (56) is fixed inside the mounting base (55), and a connecting seat 2 (51) is fixed to the upper end of the output shaft of the detection motor (56), and the connecting seat 2 (51) is fixed to the upper end of the output shaft of the detection motor (56). ) extends out of the upper end of the protective cover (57), the upper end of the connecting seat 2 (51) is fixed with a bottom base plate (54), the upper end of the bottom base plate (54) is provided with a ring-shaped limit support seat 2 (52), the upper end of the limit support seat 2 (52) is provided with a plurality of circumferentially evenly distributed retaining edge fixing blocks 2 (53), the limit support seat 2 (52) is provided with three circumferentially evenly distributed clamping avoidance grooves 2 and three circumferentially evenly distributed magnet grooves 2, the three clamping avoidance grooves 2 and the three magnet grooves 2 are alternately distributed, and the interior of the magnet grooves 2 is fixed with a positioning adsorption magnet 2 (50), and the supplementary light ring (47) is located directly above the limit support seat 2 (52).

8. The iron ring adhesive cleaning device integrating automatic cleaning and CCD detection according to claim 7 is characterized in that: The iron ring collecting assembly comprises a side stand (58) and a collecting plate (61). The side stand (58) and the collecting plate (61) of the two iron ring collecting assemblies are respectively fixed at corresponding positions of the output area (2) and the NG area (7) on the inner upper layer of the main frame (1). The output area (2) and the NG area (7) on the inner upper layer of the main frame (1) are both provided with positioning pins. Positioning pin holes (63) are opened at the four corners of the collecting plate (61). The positioning pin holes (63) and the positioning pins are aligned with each other. The upper end of the collecting plate (61) is fixed with four circumferentially evenly distributed limiting posts (60) and four circumferentially evenly distributed handles (62), the positions of the handles (62) and the limiting posts (60) correspond to each other, the limiting posts (60) are located inside the handles (62) at the corresponding positions, the side stand (58) is located on the side of the collecting plate (61), and an in-position sensor (59) is fixed on the side stand (58), and the in-position sensor (59) is directly opposite to the center position of the four limiting posts (60).

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