A dry ice cleaning device for radar antenna substrates of new energy vehicles

Abstract

This application discloses a dry ice cleaning device for radar antenna substrates of new energy vehicles, including a rotating device. The rotating device includes a rotating disk, a clamping mechanism, a first clamping release mechanism, and a second clamping release mechanism. The clamping mechanism is disposed on the rotating disk and includes a clamping seat, grippers, and push rods. The clamping seat is adapted to support the substrate. The grippers are movably disposed around the periphery of the clamping seat. Multiple push rods are slidably disposed in the clamping seat in a vertical direction. Each push rod engages with the end of a gripper distributed in opposite directions around the periphery of the clamping seat. The rotating disk is adapted to rotate so that the clamping mechanism moves above the first or second clamping release mechanism. The first clamping release mechanism is adapted to simultaneously lift all the push rods in the upper clamping mechanism to push all the grippers away from the clamping seat at the same time. The second clamping release mechanism is adapted to sequentially lift some of the push rods in the upper clamping mechanism to push the grippers away from the clamping seat sequentially. This application has the advantages of good cleaning effect and stable cleaning process.

Description

Technical Field

[0001] This application relates to the field of integrated circuit manufacturing technology, specifically to a dry ice cleaning device for radar antenna substrates of new energy vehicles. Background Technology

[0002] With the rapid development of driver assistance technology, the requirements of new energy vehicles for environmental perception systems are increasing. Among the hardware for driver assistance in new energy vehicles, the manufacturing precision and cleanliness of the antenna substrates of core sensors, including lidar and millimeter-wave radar, directly affect the transmission quality of radar signals and the reliability of the system.

[0003] However, existing substrate cleaning processes have the following drawbacks: Currently, common cleaning methods in the industry include chemical cleaning and ultrasonic cleaning. Chemical cleaning uses organic solvents (such as isopropanol and acetone) or water-based cleaning agents for soaking or spraying, but it has disadvantages such as chemical residue, environmental pollution, and long drying cycle. Ultrasonic cleaning uses the cavitation effect generated by high-frequency vibration to remove contaminants, but it has disadvantages such as poor cleaning uniformity and poor removal effect on hydrophobic contaminants (such as grease and fingerprints). Summary of the Invention

[0004] One objective of this application is to provide a dry ice cleaning device for radar antenna substrates of new energy vehicles that has good cleaning effect and stable cleaning process.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a dry ice cleaning device for a new energy vehicle radar antenna substrate, comprising a rotating device, the rotating device including a rotating disk, a clamping mechanism, a first clamping release mechanism, and a second clamping release mechanism, the clamping mechanism being disposed on the rotating disk, the clamping mechanism including a clamping seat, a jaw, and a push rod, the clamping seat being adapted to support the substrate, the jaw being movably disposed around the periphery of the clamping seat, and a plurality of push rods being slidably disposed within the clamping seat in a vertical direction, each push rod being disposed in a different direction around the periphery of the clamping seat. The ends of the opposing grippers engage in abutment. The first and second release mechanisms are located below the rotating disk. The rotating disk is adapted to rotate so that the clamping mechanism moves above the first or second release mechanism. The first release mechanism is adapted to simultaneously lift all the push rods in the upper clamping mechanism to push all the grippers away from the clamping seat simultaneously. The second release mechanism is adapted to sequentially lift some of the push rods in the upper clamping mechanism to push the grippers away from the clamping seat sequentially.

[0006] In some embodiments, the first release mechanism includes a first top block and a first driver. When the clamping mechanism moves above the first release mechanism, the first driver drives the first top block to move vertically. The lower end projections of all the top rods are located within the upper surface of the first top block, and the upper end of the first top block is adapted to engage with all the top rods. The second release mechanism includes a second top block, a second driver, and a third driver. When the clamping mechanism moves above the second release mechanism, the second driver drives the second top block to move vertically. The upper end of the second top block is adapted to engage with some of the top rods. The third driver is adapted to drive the second top block to move horizontally, so that the upper end of the second top block engages with other top rods.

[0007] In some embodiments, the main structure of the gripper is L-shaped, the upper end of the push rod is inclinedly engaged with the lower end of the gripper, a first resetter is provided between the gripper and the clamping seat, the first resetter is adapted to bring the gripper closer to the clamping seat, and a second resetter is provided between the push rod and the clamping seat, the second resetter is adapted to lower the push rod to reset.

[0008] In some embodiments, multiple pairs of grippers are distributed opposite each other in different directions around the gripper, and each pair of grippers is connected to a different height position of the gripper, so that each pair of grippers is staggered and engaged with each other in the vertical direction.

[0009] In some embodiments, the lower end of the top rod is provided with a trigger locking structure, the trigger locking structure including a trigger rod that is elastically slidably disposed in the vertical direction and a locking rod that is slidably disposed in the horizontal direction, the sliding of the trigger rod and the locking rod being linked, the rotating disk having a locking groove on the circumference of the lower end of the top rod, the locking rod being adapted to be fitted into the locking groove, the upper ends of the first top block and the upper ends of the second top block being adapted to magnetically engage with the lower end of the trigger rod, so that the trigger rod descends and the locking rod slides back into the top rod to disengage from the locking groove; the lower end of the trigger rod is retracted into the top rod.

[0010] In some embodiments, a third resetter is provided between the trigger rod and the top rod, the third resetter being adapted to raise the trigger rod so that the locking rod slides out of the top rod; a pressure sensor is provided in the locking groove, the pressure sensor being adapted to sense the engagement state of the locking rod and the locking groove.

[0011] In some embodiments, the device further includes a feeding device, a cleaning device, and a discharging device. The rotary disk has multiple processing stations, and each processing station is provided with at least one of the clamping mechanisms. At least some of the processing stations are adapted to correspond one-to-one with the feeding device, the cleaning device, and the discharging device, respectively. The rotary disk is adapted to rotate so that the processing station passes through the feeding device, the cleaning device, and the discharging device in sequence. The first clamping release mechanism is arranged at the feeding device and the discharging device, and the second clamping release mechanism is arranged at the cleaning device. The first clamping release mechanism and the second clamping release mechanism are adapted to cooperate with the clamping mechanism on the processing station at the current position to release the gripper.

[0012] In some embodiments, the feeding device includes a first conveying mechanism, a flipping mechanism, and a first transfer mechanism. The first conveying mechanism is adapted to convey a substrate to the flipping mechanism. The flipping mechanism includes a flipping seat and a flipping clamp. The flipping seat is adapted to cooperate with the substrate for positioning. The flipping clamp is adapted to clamp and fix a portion of the substrate and cooperate with the flipping seat to flip the substrate. The first transfer mechanism is movably disposed between the flipping mechanism and the rotary table. The first transfer mechanism is adapted to clamp and fix another portion of the substrate to transfer the substrate to the processing station.

[0013] In some embodiments, the cleaning device includes a cleaning gun and a cleaning robot. The cleaning gun is mounted on the cleaning robot, which is adapted to control the cleaning gun to clean the substrate on the clamping seat. The outlet of the cleaning gun is flat-nozzle shaped. The gripper holds one end of the substrate and has a clearance surface near the substrate. The outlet of the cleaning gun is adapted to approach the edge of the substrate through the clearance surface. A dust collection device is provided at the cleaning device, which is adapted to cover and move to the processing station at the cleaning device.

[0014] In some embodiments, the discharge device includes a second conveying mechanism, a third conveying mechanism, a second transfer mechanism, and a detection mechanism. The detection mechanism is disposed between the second conveying mechanism and the third conveying mechanism. The second transfer mechanism is adapted to transfer the substrate on the processing station to the detection mechanism. The detection mechanism is adapted to inspect the appearance of the upper and lower sides of the substrate. The second conveying mechanism and the third conveying mechanism are adapted to convey the substrate according to the detection results.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: The cleaning device of this application uses dry ice cleaning technology to quickly clean the radar antenna substrate, which has the advantages of high efficiency and environmental protection. Compared with traditional chemical cleaning and ultrasonic cleaning, the cleaning effect is better, less likely to leave impurities, and less impact and damage to the substrate. At the same time, in order to make the cleaning effect more comprehensive, this application also improves the clamping mechanism of the rotating device of the production line. During the cleaning process of the cleaning device, the jaws can open stably and orderly in sequence, ensuring that the substrate is stably clamped while some jaws move away from the substrate. This allows the area near the substrate in contact with these jaws to be targeted for cleaning by the cleaning device, thereby reducing cleaning dead spots. The opening process of the jaws is mechanically controlled, which is not prone to failure. Furthermore, a trigger locking structure is added to monitor the opening process of the jaws, further improving the safety of the jaw opening process. Attached Figure Description

[0016] Figure 1 This is an overall structural view according to a preferred embodiment of the present application.

[0017] Figure 2 This is a schematic diagram of the cooperation between the rotating device and the cleaning device according to a preferred embodiment of this application.

[0018] Figure 3 This is a structural view of a rotating device according to a preferred embodiment of the present application.

[0019] Figure 4 This is a preferred embodiment according to this application. Figure 3 A magnified view of point a in the middle.

[0020] Figure 5 This is a schematic diagram of the engagement of the clamping device and the second clamping release mechanism according to a preferred embodiment of this application.

[0021] Figure 6 This is a preferred embodiment according to this application. Figure 5 A magnified view at point b in the middle;

[0022] Figure 7 This is a preferred embodiment according to this application. Figure 5 A schematic diagram of the unlocking state of the trigger-locking structure at point b.

[0023] Figure 8 This is a schematic diagram of the state of the feeding device before feeding according to a preferred embodiment of this application;

[0024] Figure 9 This is a schematic diagram of the feeding device during feeding according to a preferred embodiment of this application;

[0025] Figure 10This is a schematic diagram of the structure of a discharge device according to a preferred embodiment of this application.

[0026] In the diagram: 1. Feeding device; 11. First conveying mechanism; 12. Tilting mechanism; 121. Tilting seat; 122. Tilting clamp; 13. First transfer mechanism; 2. Cleaning device; 21. Cleaning gun; 22. Cleaning robot; 3. Discharge device; 31. Second conveying mechanism; 32. Third conveying mechanism; 33. Second transfer mechanism; 34. Detection mechanism; 4. Rotating device; 41. Rotary disk; 411. Installation channel; 4111. Locking slot; 42. Clamping mechanism; 421. Clamping seat; 422. Gripper; 4221. Clearance surface; 423. Push rod; 424. Second resetter; 425. Limiting seat; 426. Trigger rod; 427. Locking rod; 428. Third resetter; 43. First release mechanism; 431. First push block; 432. First driver; 44. Second release mechanism; 441. Second push block; 442. Second driver; 443. Third driver; 5. Substrate; 6. Processing station; 7. Dust collection device. Detailed Implementation

[0027] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0028] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this application.

[0029] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0030] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0031] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0032] like Figures 1 to 10 As shown, this application provides a dry ice cleaning device for radar antenna substrates of new energy vehicles, including a feeding device 1, a cleaning device 2, a discharging device 3, and a rotating device 4.

[0033] The rotating device 4 includes a rotating disk 41 and a clamping mechanism 42. The clamping mechanism 42 is disposed on the rotating disk 41 and is suitable for clamping and fixing the radar antenna substrate 5. By rotating with the rotating disk 41, it realizes loading, processing and unloading at different devices. Multiple processing stations 6 are formed on the rotating disk 41. At least one clamping mechanism 42 is provided in each processing station 6. It can be understood that multiple clamping mechanisms 42 can be reasonably set in each processing station 6 according to the overall production (cleaning) rhythm of the production line to improve the efficiency of cleaning processing.

[0034] At least some of the processing stations 6 are adapted to correspond one-to-one with the feeding device 1, the cleaning device 2, and the discharging device 3, respectively. For example, four processing stations 6 are formed on the rotary table 41, of which three stations are adapted to correspond one-to-one with the feeding device 1, the cleaning device 2, and the discharging device 3, respectively, while the extra processing station 6 is mainly used to ensure the production (cleaning) cycle and the effective use of the space of the rotary table 41. The rotary table 41 is adapted to rotate so that a certain processing station 6 is adapted to pass through the feeding device 1, the cleaning device 2, and the discharging device 3 in sequence, that is, to complete the entire cleaning process of the processing station 6. Similarly, the number of processing stations 6 can also be set to three. In this case, the three processing stations 6 correspond one-to-one with the feeding device 1, the cleaning device 2, and the discharging device 3.

[0035] like Figures 1 to 3 In the embodiment shown, the rotating device 4 further includes a first clamping mechanism 43 and a second clamping mechanism 44. The first clamping mechanism 43 is arranged at the feeding device 1 and the discharging device 3, and the second clamping mechanism 44 is arranged at the cleaning device 2. The first clamping mechanism 43 and the second clamping mechanism 44 are adapted to cooperate with the clamping mechanism 42 on the processing station 6 at the current position to clamp, so that the clamping mechanism 42 can smoothly receive the substrate 5, smoothly remove the substrate 5 from the clamping mechanism 42, and improve the cleaning effect.

[0036] like Figures 3 to 5In the illustrated embodiment, the clamping mechanism 42 includes a clamping seat 421, grippers 422, and push rods 423. The clamping seat 421 is adapted to support the substrate 5. The grippers 422 are movably disposed around the clamping seat 421. A plurality of push rods 423 are slidably disposed within the clamping seat 421 in a vertical direction. Each push rod 423 engages with the ends of grippers 422 distributed in opposite directions around the clamping seat 421. A first loosening mechanism 43 and a second loosening mechanism 44 are disposed within the clamping seat 421. Below the rotating disk 41, the rotating disk 41 is adapted to rotate so that the clamping mechanism 42 moves above the first loosening mechanism 43 or the second loosening mechanism 44. The first loosening mechanism 43 is adapted to simultaneously lift all the push rods 423 in the upper clamping mechanism 42 so as to push all the jaws 422 away from the clamping seat 421 at the same time. The second loosening mechanism 44 is adapted to sequentially lift some of the push rods 423 in the upper clamping mechanism 42 so as to push the jaws 422 away from the clamping seat 421 in sequence.

[0037] It is worth noting that each push rod 423 is engaged with the ends of the opposing claws 422 distributed in different directions around the clamping seat 421. The main reason for choosing opposing claws 422 is to ensure the clamping stability of the substrate 5 during the cleaning process, to ensure that the substrate 5 always has a basic clamping force, and to minimize the probability of the substrate 5 falling due to dry ice cleaning.

[0038] like Figures 3 to 5 In the embodiment shown, the main body of the substrate 5 is a rectangular structure, so the clamping seat 421 is also a rectangular structure. The jaws 422 are divided into two groups, which are respectively arranged on the front and rear sides and the left and right sides of the clamping seat 421. Two push rods 423 are provided inside the clamping seat 421, which are respectively connected to the two groups of jaws 422. When the push rods 423 are lifted, the jaws 422 on the front and rear sides and the left and right sides of the clamping seat 421 will be released in sequence.

[0039] like Figure 5 In the embodiment shown, the top end of the push rod 423 is conical, and the end of the gripper 422 is provided with an inclined surface that is adapted to the top end of the push rod 423. When the push rod 423 rises, the gripper 422 is pushed to move by the cooperation between the top end of the push rod 423 and the inclined surface of the gripper 422.

[0040] like Figures 3 to 5In the embodiment shown, the main structure of the gripper 422 is L-shaped, and the upper end of the gripper 422 protrudes from the supporting surface of the clamping seat 421, so that the substrate 5 with a certain thickness can be stably clamped from the outside. The upper end of the push rod 423 is inclinedly engaged with the lower end of the gripper 422. A first resetter is provided between the gripper 422 and the clamping seat 421. The first resetter is adapted to bring the gripper 422 closer to the clamping seat 421. A second resetter 424 is provided between the push rod 423 and the clamping seat 421. The second resetter 424 is adapted to lower and reset the push rod 423.

[0041] like Figures 3 to 5 In the embodiment shown, an L-shaped limiting seat 425 is provided on the clamping seat 421, and the gripper 422 is slidably disposed on the limiting seat 425. The limiting seat 425 is adapted to limit the maximum travel distance of the gripper 422 away from the clamping seat 421.

[0042] In some embodiments, the first resetter is a spring, which is disposed between the outer side of the gripper 422 and the inner side of the limiting seat 425 to force the gripper 422 to approach the clamping seat 421 to achieve active clamping.

[0043] In some embodiments, the second resetter 424 is a spring, which is sleeved on the top rod 423. The upper end of the second resetter 424 abuts against the limiting seat 425, and the lower end of the second resetter 424 abuts against the top rod 423, so that the top rod 423 can actively descend and reset.

[0044] like Figure 2 In the embodiment shown, the first loosening mechanism 43 includes a first top block 431 and a first driver 432. When the clamping mechanism 42 moves above the first loosening mechanism 43, the first driver 432 is adapted to drive the first top block 431 to move in the vertical direction. The lower end projections of the top rods 423 are all located within the upper surface of the first top block 431. The upper end of the first top block 431 is adapted to cooperate and abut with all the top rods 423 in the clamping mechanism 42 above. It can be understood that the first top block 431 can abut the lower end of all the top rods 423 during the rising process, so that all the top rods 423 rise at the same time. The purpose of this design is to enable the clamping mechanism 42 to open all the grippers 422 at the feeding device 1 and the discharging device 3 at the same time, so as to avoid some grippers 422 remaining in a clamped state, causing the position of the substrate 5 to shift and interfering with the loading and unloading transfer process.

[0045] like Figure 2 and 5In the embodiment shown, the second release mechanism 44 includes a second top block 441, a second driver 442, and a third driver 443. When the clamping mechanism 42 moves above the second release mechanism 44, the second driver 442 is adapted to drive the second top block 441 to move vertically, and the upper end of the second top block 441 is adapted to cooperate with and abut against some of the top rods 423. The third driver 443 is adapted to drive the second top block 441 to move horizontally, so that the upper end of the second top block 441 cooperates and abuts against other top rods 423. The second top block 441 can switch states through the third driver 443, thereby lifting different top rods 423. The ultimate goal is to allow all top rods 423 to be lifted asynchronously and sequentially, so that the grippers 422 around the substrate 5 can cooperate with the cleaning process of the cleaning device 2 to release the clamps, thereby eliminating cleaning dead corners and obstructions, and making the cleaning of the substrate 5 more comprehensive.

[0046] Specifically, the connection between the second top block 441, the second driver 442, and the third driver 443 is as follows: the second top block 441 is mounted on the driving end of the second driver 442; the second driver 442 is slidably mounted on the guide rail structure in the horizontal direction and connected to the driving end of the third driver 443; the third driver 443 is adapted to drive the second driver 442 to move along the guide rail structure, while simultaneously driving the second top block 441 to move.

[0047] In some embodiments, the first actuator 432, the second actuator 442, and the third actuator 443 are cylinders, wherein the travel of the third actuator 443 is controlled by a limit switch.

[0048] like Figure 5 In the embodiment shown, multiple pairs of grippers 422 are distributed opposite each other in different directions around the gripper 421. Each pair of grippers 422 is connected to different height positions of the gripper 421, so that each pair of grippers 422 is staggered and engaged in the vertical direction, reducing the structural interference between the grippers 422 and the push rod 423, making the structure more compact and suitable for grippers 421 that support small volume components such as substrate 5.

[0049] like Figures 5 to 7In the illustrated embodiment, the lower end of the push rod 423 is provided with a trigger locking structure. The trigger locking structure includes a trigger rod 426 that is elastically slidable in the vertical direction and a locking rod 427 that is slidable in the horizontal direction. The sliding of the trigger rod 426 and the locking rod 427 is linked. The rotating disk 41 is provided with an installation channel 411 for accommodating the lower end of the push rod 423, so that the lower end of the push rod 423 can cooperate with the first loosening mechanism 43 and the second loosening mechanism 44 below the rotating disk 41. The installation channel 411 is provided with a locking groove 4111 on the periphery of the lower end of the push rod 423. The locking rod 427 is adapted to be fitted into the locking groove 4111. The upper end of the first top block 431 and the upper end of the second top block 441 are adapted to magnetically cooperate with the lower end of the trigger rod 426, so that the trigger rod 426 descends and the locking rod 427 slides back to the push rod 423 to disengage from the locking groove 4111.

[0050] The trigger-locking structure serves as a safety feature. If the second top block 441 fails to reach the target position when switching positions, causing the edge of the second top block 441 to contact another top rod 423, the top rod 423 will be locked due to the magnetic attraction between the second top block 441 and the top rod 423, preventing it from being lifted. It is understood that the clamping mechanism 42 in this application usually has two top rods 423. When the above-mentioned accidental contact occurs, both top rods 423 may be lifted. At this time, the substrate 5 will completely lose its clamping force. Under the impact of dry ice spray, the substrate 5 will fall from the clamping seat 421 and be damaged. Therefore, adding a trigger-locking structure can basically avoid the above situation.

[0051] The sliding linkage between the trigger lever 426 and the locking lever 427 is implemented in many ways in the art, such as through an inclined sliding block (see reference). Figure 6 and 7 The structure of the dotted part at the connection of the trigger lever 426 and the locking lever 427 is shown in the diagram. The combination of guidance, etc., will not be described in detail here.

[0052] like Figures 5 to 7 In the embodiment shown, a third resetter 428 is provided between the trigger rod 426 and the top rod 423. The third resetter 428 is adapted to raise the trigger rod 426 so that the locking rod 427 slides out of the top rod 423.

[0053] like Figures 5 to 7 In the embodiment shown, the third resetter 428 is a spring, the upper end of the third resetter 428 abuts against the trigger rod 426, and the lower end of the third resetter 428 abuts against the top rod 423.

[0054] In some embodiments, the engagement between the locking lever 427 and the locking groove 4111 can be disengaged. Specifically, when the vertical force on the locking lever 427 exceeds a certain level, the locking lever 427 will slide out of the locking groove 4111, preventing damage to both the locking lever 427 and the locking groove 4111. Specifically, guide surfaces can be provided on the upper and lower sides of the locking groove 4111, allowing the locking lever 427 to disengage from the locking groove 4111 along the guide surfaces when subjected to an external vertical force (such as the second top block 441 being accidentally pushed up), thus preventing damage to both the locking lever 427 and the locking groove 4111. Hard contact in the vertical direction can cause damage. At the same time, a pressure sensor is installed in the locking groove 4111. The pressure sensor is suitable for sensing the engagement state of the locking rod 427 and the locking groove 4111. That is, the pressure sensor is suitable for sensing whether the locking rod 427 is abutting into the locking groove 4111. When the system background recognizes that the abutting force of the locking rod 427 against the locking groove 4111 decreases rapidly, and the top rod 423 corresponding to the locking rod 427 is not the control object of the current gripper 422, the equipment can be stopped in time for maintenance and repair to avoid damage to the base plate 5 and the equipment.

[0055] like Figures 5 to 7 In the embodiment shown, the lower end of the trigger rod 426 is recessed into the top rod 423, so that the trigger rod 426 is hidden inside the top rod 423, making it less likely to be accidentally touched from the outside. This allows the trigger locking structure to operate more stably and monitor the lifting status of the top rod 423.

[0056] like Figure 8 and 9 In the embodiment shown, the feeding device 1 includes a first conveying mechanism 11, a flipping mechanism 12, and a first transfer mechanism 13. The first conveying mechanism 11 is adapted to convey the substrate 5 to the flipping mechanism 12. The flipping mechanism 12 includes a flipping seat 121 and a flipping clamp 122. The flipping seat 121 is adapted to cooperate with the substrate 5 for positioning. The flipping seat 121 and the flipping clamp 122 are connected to a driver. The flipping clamp 122 is adapted to clamp and fix a part of the substrate 5 and flip it synchronously with the flipping seat 121 to change the orientation of the substrate 5. The first transfer mechanism 13 is movably disposed between the flipping mechanism 12 and the rotary disk 41. The first transfer mechanism 13 is adapted to clamp and fix another part of the substrate 5 to transfer the substrate 5 to the processing station 6. The flipping mechanism 12 and the first transfer mechanism 13 stably dock and clamp the different parts of the substrate 5 respectively, so that the two do not interfere with each other.

[0057] like Figure 1 and 2In the illustrated embodiment, the cleaning device 2 includes a cleaning gun 21 and a cleaning robot 22. The cleaning gun 21 is mounted on the cleaning robot 22, and the cleaning robot 22 is adapted to control the cleaning gun 21 to perform cleaning operations on the substrate 5 on the clamping seat 421. The outlet of the cleaning gun 21 is flat-nozzle shaped, and the gripper 422 clamps one end of the substrate 5 and has a clearance surface 4221 near the substrate 5 (see reference). Figure 4 As shown, the outlet of the cleaning gun 21 is adapted to approach the edge of the substrate 5 through the clearance surface 4221. Since the end of the gripper 422 protrudes from the side of the substrate 5 when the gripper 422 holds the substrate 5, it may interfere with the cleaning action of the cleaning gun 21. Therefore, by setting the clearance surface 4221 at the end of the gripper 422, in conjunction with the flat nozzle-shaped outlet of the cleaning gun 21, the interference during cleaning can be minimized as much as possible, allowing the cleaning gun 21 to have more positions and angles to thoroughly clean the substrate 5.

[0058] like Figure 1 In the embodiment shown, a dust collection device 7 is provided at the cleaning device 2. The dust collection device 7 is adapted to cover and move to the processing station 6 at the cleaning device 2. The opening of the dust collection device 7 faces the cleaning device 2 and performs suction to quickly collect the residual substances generated by the cleaning device 2, so as to avoid them from drifting in the entire equipment and reduce the contamination of the cleaned substrate 5.

[0059] like Figure 10 In the illustrated embodiment, the unloading device 3 includes a second conveying mechanism 31, a third conveying mechanism 32, a second transfer mechanism 33, and a detection mechanism 34. The detection mechanism 34 is disposed between the second conveying mechanism 31 and the third conveying mechanism 32. The second transfer mechanism 33 is adapted to transfer the substrate 5 on the processing station 6 to the detection mechanism 34. The detection mechanism 34 is adapted to inspect the appearance of the upper and lower sides of the substrate 5 by visual inspection to observe whether it is cleaned properly and whether there is any damage on the surface of the substrate 5. The second conveying mechanism 31 and the third conveying mechanism 32 are adapted to convey the substrate 5 according to the detection results of the detection mechanism 34. For example, qualified products can be sent out from the second conveying mechanism 31 and unqualified products can be sent out from the third conveying mechanism 32, thereby realizing sorting and unloading, which facilitates subsequent reprocessing. The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are only the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope of this application. All such changes and modifications fall within the scope of this application as claimed. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. A dry ice cleaning device for radar antenna substrates of new energy vehicles, characterized in that: The device includes a rotating mechanism comprising a rotating disk, a clamping mechanism, a first clamping release mechanism, and a second clamping release mechanism. The clamping mechanism is disposed on the rotating disk and includes a clamping seat, grippers, and push rods. The clamping seat is adapted to support a substrate. The grippers are movably disposed around the periphery of the clamping seat. A plurality of push rods are slidably disposed vertically within the clamping seat. Each push rod engages with the end of a gripper distributed in opposite directions around the periphery of the clamping seat. The first clamping release mechanism and the second clamping release mechanism are disposed below the rotating disk. The rotating disk is adapted to rotate so that the clamping mechanism moves above the first clamping release mechanism or the second clamping release mechanism. The first clamping release mechanism is adapted to simultaneously lift all the push rods within the upper clamping mechanism to push all the grippers away from the clamping seat simultaneously. The second clamping release mechanism is adapted to sequentially lift some of the push rods within the upper clamping mechanism to push the grippers away from the clamping seat sequentially. The first clamping release mechanism includes a first top block and a first driver. When the clamping mechanism moves above the first clamping release mechanism, the first driver drives the first top block to move vertically. The lower end projections of all the top rods are located within the upper surface of the first top block, and the upper end of the first top block is adapted to engage with all the top rods. The second clamping release mechanism includes a second top block, a second driver, and a third driver. When the clamping mechanism moves above the second clamping release mechanism, the second driver drives the second top block to move vertically. The upper end of the second top block is adapted to engage with some of the top rods. The third driver is adapted to drive the second top block to move horizontally, so that the upper end of the second top block engages with other top rods. The lower end of the top rod is provided with a trigger locking structure, which includes a trigger rod that slides elastically in the vertical direction and a locking rod that slides in the horizontal direction. The sliding of the trigger rod and the locking rod is linked. The rotating disk has a locking groove on the circumference of the lower end of the top rod. The locking rod is adapted to fit into the locking groove. The upper ends of the first top block and the upper ends of the second top block are adapted to magnetically engage with the lower end of the trigger rod, so that the trigger rod descends and the locking rod slides back into the top rod to disengage from the locking groove. The lower end of the trigger rod is recessed into the top rod. A third reset device is provided between the trigger rod and the top rod. The third reset device is adapted to raise the trigger rod so that the locking rod slides out of the top rod. A pressure sensor is provided in the locking groove. The pressure sensor is adapted to sense the engagement state of the locking rod and the locking groove.

2. The dry ice cleaning device for a new energy vehicle radar antenna substrate as described in claim 1, characterized in that: The main structure of the gripper is L-shaped. The upper end of the push rod is inclinedly engaged with the lower end of the gripper. The upper end of the gripper protrudes from the clamping seat. A first resetter is provided between the gripper and the clamping seat. The first resetter is adapted to bring the gripper closer to the clamping seat. A second resetter is provided between the push rod and the clamping seat. The second resetter is adapted to lower the push rod to reset.

3. The dry ice cleaning device for a new energy vehicle radar antenna substrate as described in claim 2, characterized in that: The clamping seat has multiple pairs of grippers facing each other in different directions around its periphery. Each pair of grippers is connected to a different height position of the clamping seat, so that each pair of grippers interlocks and cooperates with each other in the vertical direction.

4. A dry ice cleaning device for a new energy vehicle radar antenna substrate as described in any one of claims 1 to 3, characterized in that: It also includes a feeding device, a cleaning device, and a discharging device. The rotary table has multiple processing stations, and each processing station is provided with at least one clamping mechanism. At least some of the processing stations are adapted to correspond one-to-one with the feeding device, the cleaning device, and the discharging device, respectively. The rotary table is adapted to rotate so that the processing station passes through the feeding device, the cleaning device, and the discharging device in sequence. The first clamping release mechanism is arranged at the feeding device and the discharging device, and the second clamping release mechanism is arranged at the cleaning device. The first clamping release mechanism and the second clamping release mechanism are adapted to cooperate with the clamping mechanism on the processing station at the current position to release the gripper.

5. The dry ice cleaning device for a new energy vehicle radar antenna substrate as described in claim 4, characterized in that: The feeding device includes a first conveying mechanism, a flipping mechanism, and a first transfer mechanism. The first conveying mechanism is adapted to convey the substrate to the flipping mechanism. The flipping mechanism includes a flipping seat and a flipping clamp. The flipping seat is adapted to cooperate with the substrate for positioning. The flipping clamp is adapted to clamp and fix a portion of the substrate and cooperate with the flipping seat to flip the substrate. The first transfer mechanism is movably disposed between the flipping mechanism and the rotary table. The first transfer mechanism is adapted to clamp and fix another portion of the substrate to transfer the substrate to the processing station.

6. The dry ice cleaning device for a new energy vehicle radar antenna substrate as described in claim 4, characterized in that: The cleaning device includes a cleaning gun and a cleaning robot. The cleaning gun is mounted on the cleaning robot, which is adapted to control the cleaning gun to clean the substrate on the clamping seat. The outlet of the cleaning gun is flat-nozzle shaped. The gripper holds one end of the substrate and has a clearance surface near the substrate. The outlet of the cleaning gun is adapted to approach the edge of the substrate through the clearance surface. A dust collection device is provided at the cleaning device, which is adapted to cover and move to the processing station at the cleaning device.

7. The dry ice cleaning device for a new energy vehicle radar antenna substrate as described in claim 4, characterized in that: The discharge device includes a second conveying mechanism, a third conveying mechanism, a second transfer mechanism, and a detection mechanism. The detection mechanism is disposed between the second conveying mechanism and the third conveying mechanism. The second transfer mechanism is adapted to transfer the substrate on the processing station to the detection mechanism. The detection mechanism is adapted to inspect the appearance of the upper and lower sides of the substrate. The second conveying mechanism and the third conveying mechanism are adapted to convey the substrate according to the detection results.

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