A mold cleaning device

Abstract

This application relates to a mold cleaning device, including a frame and a six-axis robotic arm mounted on the frame. The six-axis robotic arm can move at arbitrary spatial coordinates within a set three-dimensional space. A grinding component is provided on the tool end of the six-axis robotic arm for grinding the mold placed on the frame. A grinding head receiving mechanism is provided on the frame, which includes a drive component and two sets of grinding head discs. The drive component is used to drive the two sets of grinding head discs to rotate along the frame. Several grinding heads are respectively mounted on the two sets of grinding head discs circumferentially. The grinding component includes a pneumatic chuck for clamping the grinding heads, or for placing the grinding heads on the pneumatic chuck onto the grinding head discs. The tool end of the six-axis robotic arm is also provided with a cleaning agent spraying component and an air blowing component. The cleaning agent spraying component is used to spray cleaning liquid onto the mold, and the air blowing component is used to blow compressed air onto the mold. This application has the effect of improving mold cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of mold processing, and in particular to a mold cleaning device. Background Technology

[0002] After production, molds need to be polished and cleaned, primarily to ensure product quality, extend mold life, and improve subsequent production efficiency. Polishing removes burrs, flash, or slight deformations left on the mold surface due to production, preventing these defects from being transferred to the product and ensuring accurate dimensions and a smooth appearance of the finished product. Cleaning removes residual mold release agent, material debris, or oil from inside the mold, preventing them from contaminating materials or affecting mold closing accuracy in the next production run.

[0003] With the development of industrial automation, robotic arms are being used more and more widely on production lines. Traditional robotic arms typically only perform a single function, such as grasping, handling, or welding. To improve production efficiency, multi-functional robotic arms have gradually become a research hotspot. Most existing multi-functional robotic arms achieve different functions by increasing the number of robotic arms or changing tool heads, but this approach often results in complex robotic arm structures and inconvenient operation.

[0004] Existing technological solutions: Currently, there are two main solutions for multi-functional robotic arms on the market: one is to increase the number of robotic arms, with each arm equipped with a different tool head to achieve multiple functions; the other is to quickly change the tool head, with the robotic arm changing the corresponding tool head when performing different tasks. The advantage of the first solution is its versatility, but the disadvantage is that the robotic arm has a complex structure and occupies a large area. The advantage of the second solution is its relatively simple structure, but the process of changing the tool head is time-consuming, affecting production efficiency, and there is room for improvement. Utility Model Content

[0005] To improve mold cleaning efficiency, this application provides a mold cleaning device.

[0006] The mold cleaning device provided in this application adopts the following technical solution:

[0007] A mold cleaning device includes a frame and a six-axis robotic arm mounted on the frame. The six-axis robotic arm can move at arbitrary spatial coordinates within a set three-dimensional space. A grinding component is provided on the tool end of the six-axis robotic arm for grinding the mold placed on the frame. A grinding head receiving mechanism is provided on the frame. The grinding head receiving mechanism includes a drive component and two sets of grinding head discs. The drive component is used to drive the two sets of grinding head discs to rotate along the frame. A plurality of grinding heads are respectively mounted on the two sets of grinding head discs circumferentially. The grinding component includes a pneumatic chuck for clamping the grinding heads, or for placing the grinding heads on the pneumatic chuck onto the grinding head discs. The tool end of the six-axis robotic arm is also provided with a cleaning agent spraying component and an air blowing component. The cleaning agent spraying component is used to spray cleaning liquid onto the mold, and the air blowing component is used to blow compressed air onto the mold.

[0008] By adopting the above technical solution, a six-axis robotic arm enables its tool end to move along any spatial coordinate within a set three-dimensional space, thereby achieving the purpose of moving the grinding component, cleaning agent spraying component, and air blowing component within the spatial range. The grinding component grinds the mold located on the frame, the cleaning agent spraying component sprays cleaning fluid onto the mold, and the air blowing component cleans foreign objects from the mold. At the same time, since several grinding heads are set on the grinding head disc, the two sets of grinding head discs are driven to rotate along the frame by the drive component. When it is necessary to replace the grinding head, the six-axis robotic arm drives the pneumatic chuck to move towards the two sets of grinding head discs, which can replace the grinding head. The operation is simple and does not require multiple sets of robotic arms to cooperate to achieve the above functions. The mechanical structure is simple and plays a positive guiding role in improving the efficiency of mold cleaning.

[0009] Preferably, the tool end of the six-axis robotic arm is provided with a support seat, and the grinding component, the cleaning agent spraying component and the air blowing component are arranged sequentially along the circumference of the support seat, and the included angle between the grinding component and the cleaning agent spraying component and the air blowing component is 120°.

[0010] By adopting the above technical solution, the bearing seat, grinding component and cleaning agent spraying component are arranged around the bearing seat, and the included angle between the grinding component and the cleaning agent spraying component and the air blowing component is 120°, which reduces the probability of mechanical interference when the three components work together to clean the mold located on the frame.

[0011] Preferably, the grinding head disc has a plurality of snap fasteners arranged circumferentially along its outer wall, and the grinding head engages with the snap fasteners.

[0012] By adopting the above technical solution, the grinding head is easily fixed to the grinding head plate due to the snap-fit ​​engagement. Alternatively, the grinding head on the current pneumatic chuck can be fixed to the grinding head plate through the cooperation of the six-axis robotic arm and the pneumatic chuck, or the grinding head can be fixed to the pneumatic chuck along the grinding head plate. This facilitates the use of the grinding head, ensures high stability, and reduces the probability of the grinding head falling off along the grinding head plate.

[0013] Preferably, the frame is provided with a support frame, and the two sets of grinding head discs are symmetrically rotated about the support frame and supported on the support frame. The drive assembly is used to drive the two sets of grinding head discs to rotate synchronously along the support frame.

[0014] By adopting the above technical solution, the two sets of grinding head discs rotate symmetrically on the stand, which facilitates the use of a six-axis robotic arm with a pneumatic chuck to pick up any grinding head located on the two sets of grinding head discs. This helps to increase the number of grinding heads that can be accommodated on the grinding head disc and improve the practicality of the grinding head disc.

[0015] Preferably, the surface of the grinding head disc has a plurality of weight-reducing grooves along the circumferential direction.

[0016] By adopting the above technical solution, the weight reduction groove helps to reduce the overall mass of the grinding head disk, thereby reducing the resistance encountered by the drive assembly when driving the two sets of grinding head disks to rotate along the stand, and at the same time facilitating the disassembly and maintenance of the two sets of grinding head disks by the operator.

[0017] Preferably, the grinding head has a slot, and the buckle has a guide boss that engages with the slot.

[0018] By adopting the above technical solution, the grinding head can be quickly fixed on the grinding head plate through the cooperation of the guide boss and the slot, or the grinding head can be removed from the grinding head plate. The operation is simple and reduces the probability that the grinding head will not be able to be stably installed on the grinding head plate due to the positional deviation of the snap and the buckle when it is fixed on the grinding head plate, which will cause the grinding head to fall off along the grinding head plate.

[0019] Preferably, the air blowing assembly includes a first mounting plate and an air nozzle, the air nozzle is connected to an external air passage, the first mounting plate is disposed on the side wall of the support seat, the first mounting plate has a waist-shaped groove along its length, and the air nozzle is fixed to the first mounting plate along the waist-shaped groove with bolts.

[0020] By adopting the above technical solution, the air nozzle is used to clean the surface of the mold located on the frame. The air nozzle is fixed to the support base by the first mounting plate, so as to facilitate the disassembly of the first mounting plate and / or the air nozzle, and to achieve the purpose of replacing different models of air nozzles. At the same time, since the first mounting plate has a waist-shaped groove, the installation position of the air nozzle can be adjusted along the length of the waist-shaped groove, so as to adjust the distance between the air nozzle and the mold on the frame in the vertical direction.

[0021] Preferably, it also includes a controller, which is electrically connected to the six-axis robotic arm, the grinding assembly, the grinding head housing mechanism, the cleaning agent spraying assembly, and the air blowing assembly.

[0022] By adopting the above technical solution, the controller is used to coordinate the control of the six-axis robotic arm, grinding components, grinding head housing mechanism, cleaning agent spraying components and air blowing components, so that the actions performed by each component can be carried out in an orderly manner, thereby improving the stability of the mold cleaning device.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. A six-axis robotic arm enables the tool end to move along any spatial coordinate within a set three-dimensional space. The grinding component grinds the mold located on the frame, the cleaning agent spraying component sprays cleaning fluid onto the mold, and the air blowing component cleans foreign objects from the mold. At the same time, since there are several grinding heads on the grinding head plate, the two sets of grinding head plates are driven to rotate along the frame by the drive component. When it is necessary to change the grinding head, the six-axis robotic arm drives the pneumatic chuck to move towards the two sets of grinding head plates, so that the grinding head can be replaced. The operation is simple and does not require multiple sets of robotic arms to cooperate to achieve the above functions. The mechanical structure is simple and plays a positive guiding role in improving the efficiency of mold cleaning.

[0025] 2. The bearing base, grinding assembly, and cleaning agent spraying assembly are arranged around the circumference of the bearing base, and the included angles formed between the grinding assembly, the cleaning agent spraying assembly, and the air blowing assembly are all 120°, reducing the probability of mechanical interference when the three work together to clean the mold located on the frame.

[0026] 3. The two sets of grinding head discs rotate symmetrically on the stand, which facilitates the use of a six-axis robotic arm with a pneumatic chuck to pick up any grinding head located on either set of grinding head discs. This increases the number of grinding heads that can be accommodated on the grinding head discs and improves their practicality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a mold cleaning device according to an embodiment of this application.

[0028] Figure 2 This is a schematic diagram of the structure of the grinding head receiving mechanism in a mold cleaning device according to an embodiment of this application.

[0029] Figure 3 yes Figure 1 A magnified structural diagram of part A in the middle.

[0030] Figure 4 yes Figure 2 A magnified structural diagram of part B.

[0031] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Stand; 111. Rotating hole; 12. Placement area; 2. Six-axis robotic arm; 21. Grinding assembly; 211. Pneumatic chuck; 212. First servo motor; 22. Cleaning agent spraying assembly; 221. Second mounting plate; 222. Nozzle; 23. Air blowing assembly; 231. First mounting plate; 232. Air nozzle; 3. Grinding head receiving mechanism; 31. Drive assembly; 311. Second servo motor; 312. First synchronous pulley; 313. Second synchronous pulley; 314. Synchronous belt; 32. Grinding head disc; 321. Grinding head; 322. Weight reduction groove; 4. Bearing seat; 5. Buckle; 6. Slot; 7. Guide boss; 8. Waist-shaped groove; 9. Rotating shaft. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0033] This application discloses a mold cleaning device. (Refer to...) Figures 1-3 A mold cleaning device includes a frame 1 and a six-axis robotic arm 2 mounted on the frame 1. The six-axis robotic arm 2 can move along any spatial coordinate within a set three-dimensional space. A grinding component 21 is provided on the tool end of the six-axis robotic arm 2. The grinding component 21 is used to grind the mold placed on the frame 1. A grinding head receiving mechanism 3 is provided on the frame 1. The grinding head receiving mechanism 3 includes a drive component 31 and two sets of grinding head discs 32. The drive component 31 is used to drive the two sets of grinding head discs 32 along the frame 1. The two sets of grinding head disks 32 are respectively equipped with several grinding heads 321 along the circumference. The grinding assembly 21 includes a pneumatic chuck 211, which is used to clamp the grinding heads 321, or to place the grinding heads 321 on the grinding head disk 32. The tool end of the six-axis robotic arm 2 is also equipped with a cleaning agent spraying assembly 22 and an air blowing assembly 23. The cleaning agent spraying assembly 22 is used to spray cleaning liquid onto the mold, and the air blowing assembly 23 is used to blow compressed air onto the mold.

[0034] The system also includes a controller, which is electrically connected to the six-axis robotic arm 2, the grinding assembly 21, the grinding head housing mechanism 3, the cleaning agent spraying assembly 22, and the air blowing assembly 23. In this embodiment, the controller is a PLC (Programmable Logic Controller), which includes multiple functions such as logic control, timing control, analog control, and multi-machine communication. It also has a human-machine interface for easy control and adjustment. The controller coordinates the control of the six-axis robotic arm 2, the grinding assembly 21, the grinding head housing mechanism 3, the cleaning agent spraying assembly 22, and the air blowing assembly 23, ensuring that the actions performed by each component are carried out in an orderly manner, thus improving the stability of the mold cleaning device. This is an existing controller, and its specific composition and working principle will not be described in detail here.

[0035] It should also be noted that the six-axis robotic arm 2 is a high-degree-of-freedom industrial robot, mainly composed of a base, six rotating joints connected by links, servo motors, reducers (such as harmonic reducers), an end effector (tool end), and a control system. Its working principle is based on spatial kinematics: the servo motor of each joint drives the link to rotate through the reducer; the control system decomposes the target pose into angle commands for each joint using an inverse kinematics algorithm, and forms a closed-loop control by using encoders to provide real-time position feedback, enabling the six joints to move in synergy. This allows for precise positioning and flexible attitude adjustment of the end effector in three-dimensional space. The specific range of its movement path within the spatial range is determined by the specific model and size of the six-axis robotic arm 2, and it is a conventional component in existing automation control systems. Its specific composition and working principle will not be elaborated upon here.

[0036] In addition, the frame 1 is provided with a placement area 12 for placing molds. When the mold needs to be cleaned, the operator needs to fix the mold to be processed in the placement area 12. The specific way to fix the mold is to use a processing fixture or start the suction cup to clamp the mold, so that the mold can be stably fixed on the placement area 12 when the grinding head 321 grinds the mold.

[0037] Reference Figures 1-3 The tool end of the six-axis robotic arm 2 is equipped with a support base 4. The grinding component 21, the cleaning agent spraying component 22, and the air blowing component 23 are arranged sequentially around the support base 4, and the included angles formed between the grinding component 21, the cleaning agent spraying component 22, and the air blowing component 23 are all 120°. The purpose of this arrangement is to reduce the probability of mechanical interference when the three components work together to clean the mold located on the frame 1.

[0038] Specifically, the grinding assembly 21 also includes a first servo motor 212, which is electrically connected to the controller. The controller can control the rotation speed and direction of the output shaft of the first servo motor 212. The first servo motor 212 is mounted on the support base 4. The pneumatic chuck 211 is coaxially fixed with the output shaft of the first servo motor 212. When the output shaft of the first servo motor 212 moves, the pneumatic chuck 211 rotates synchronously with the output shaft of the first servo motor 212.

[0039] Furthermore, the air blowing assembly 23 includes a first mounting plate 231 and an air nozzle 232. The air nozzle 232 is connected to an external air passage, which can be the output end of an air compressor at the production site (an existing device whose specific composition and working principle will not be described here). The first mounting plate 231 is disposed on the side wall of the support 4. A waist-shaped groove 8 is formed on the first mounting plate 231 along the length direction. The air nozzle 232 is fixed to the first mounting plate 231 along the waist-shaped groove 8 with bolts.

[0040] Therefore, the air nozzle 232 is used to spray compressed air onto the surface of the mold located on the frame 1. The compressed air is used to blow away foreign objects or debris generated after grinding by the grinding head 321, reducing the probability of scratches on the mold surface caused by excessive debris accumulation. The air nozzle 232 is fixed to the support base 4 by the first mounting plate 231, which facilitates the disassembly of the first mounting plate 231 and / or the air nozzle 232, allowing for the replacement of different models of air nozzle 232. At the same time, because the first mounting plate 231 has a waist-shaped groove 8, the installation position of the air nozzle 232 can be adjusted along the length of the waist-shaped groove 8, thereby adjusting the vertical distance between the air nozzle 232 and the mold on the frame 1.

[0041] Meanwhile, the cleaning agent spraying assembly 22 includes a second mounting plate 221 and a nozzle 222. The nozzle 222 is externally connected to a cleaning liquid delivery pipeline (not shown in the figure). The nozzle 222 is electrically connected to the controller. The second mounting plate 221 is located on the side wall of the support 4 away from the first mounting plate 231. The first mounting plate 231 and the second mounting plate 221 are symmetrically arranged about the support 4. The opening and closing of the nozzle 222 is controlled by the controller to achieve the purpose of spraying or stopping the spraying of cleaning liquid.

[0042] Reference Figure 1 , Figure 2 as well as Figure 3The frame 1 is equipped with a support frame 11. Two sets of grinding head discs 32 are symmetrically rotated about the support frame 11 and supported on the support frame 11. The drive assembly 31 is used to drive the two sets of grinding head discs 32 to rotate synchronously along the support frame 11. The two sets of grinding head discs 32 are symmetrically rotated about the support frame 11 and supported on the support frame 11, which makes it convenient for the six-axis robotic arm 2 to cooperate with the pneumatic chuck 211 to pick up any grinding head 321 located on the two sets of grinding head discs 32. This is beneficial to increasing the number of grinding heads 321 that can be accommodated on the grinding head disc 32 and improving the practicality of the grinding head disc 32.

[0043] Specifically, the support frame 11 is located on the frame 1 on one side of the placement area 12 to facilitate the movement of the six-axis robotic arm 2 within the spatial range. A rotating hole 111 is provided at the end of the support frame 11 away from the frame 1. A rotating shaft 9 is installed in the rotating hole 111. The rotating shaft 9 is rotatably engaged with the rotating hole 111 through a bearing (a conventional rotating component in the mechanical field, which will not be described in detail here). Two sets of grinding head discs 32 are coaxially fixed to the two ends of the rotating shaft 9 along the length direction, so that the two sets of grinding head discs 32 can rotate stably and synchronously along the support frame 11.

[0044] Furthermore, the drive assembly 31 includes a second servo motor 311, a first synchronous pulley 312, a second synchronous pulley 313, and a synchronous belt 314. The second servo motor is electrically connected to the controller and is mounted on the surface of the stand 11 facing the frame 1 to reduce the area of ​​the second servo motor exposed on the frame 1, thus providing some protection for the second servo motor. Simultaneously, the first synchronous pulley is coaxially fixed to the output shaft of the second servo motor, and the second synchronous pulley is coaxially fixed to the rotating shaft 9, with the second synchronous pulley located at the end of the rotating shaft 9. The synchronous belt is sleeved on the first and second synchronous pulleys. When the output shaft of the second servo motor rotates, it will drive the first synchronous pulley, which is coaxially fixed to the output shaft of the second servo motor, to rotate. Since the synchronous belt is sleeved on the second and first synchronous pulleys, it will also drive the first synchronous pulley to rotate, thereby achieving the purpose of driving the rotating shaft 9 to drive the two sets of grinding head discs 32 to rotate along the stand 11.

[0045] Correspondingly, the grinding head disk 32 has several latches 5 arranged circumferentially along its outer wall. The grinding head 321 engages with the latches 5. The latches 5 are made of plastic with recoverable elastic deformation (within its deformation threshold range), such as TPU (thermoplastic polyurethane) or TPE (thermoplastic elastomer), to facilitate clamping the grinding head 321. The specific number of latches 5 can be increased or decreased according to the size of the grinding head disk 32 and specific requirements, and their specific number is not limited here.

[0046] Because the grinding head 321 is engaged with the buckle 5, it is easy to fix the grinding head 321 on the grinding head plate 32. Alternatively, the grinding head 321 on the pneumatic chuck 211 can be fixed to the grinding head plate 32 through the cooperation of the six-axis robotic arm 2 and the pneumatic chuck 211. Or, the grinding head can be fixed to the pneumatic chuck 211 along the grinding head plate 32. This makes it easy to pick up and use the grinding head 321, has high stability, and reduces the probability of the grinding head 321 falling off along the grinding head plate 32.

[0047] In addition, refer to Figure 3 and Figure 4 The grinding head 321 has a slot 6, and the buckle 5 has a guide boss 7, which engages with the slot. The slot 6 is formed by the circumferential recess of the grinding head 321, and the guide boss 7 is formed by the protrusion along the inner wall of the buckle 5. Through the cooperation of the guide boss 7 and the slot 6, the grinding head 321 can be quickly fixed on the grinding head disk 32, or the grinding head 321 can be removed from the grinding head disk 32. The operation is simple, reducing the probability that the grinding head 321 will not be stably installed on the grinding head disk 32 due to the positional deviation between the buckle and the buckle 5 when it is fixed on the grinding head disk 32, and thus will fall off the grinding head disk 322.

[0048] Meanwhile, several weight-reducing grooves 322 are formed circumferentially on the surface of the grinding head disk 32. The weight-reducing grooves 322 are formed through the surface of the grinding head disk 32 along the thickness direction. The number of weight-reducing grooves 322 can be increased or decreased according to the actual size and requirements of the grinding head disk 32, and there is no specific limit to the number. The weight-reducing grooves 322 help to reduce the overall weight of the grinding head disk 32, thereby reducing the resistance encountered by the drive assembly 31 when driving the two sets of grinding head disks 32 to rotate along the stand 11. At the same time, it facilitates the disassembly and maintenance of the two sets of grinding head disks 32 by the operator.

[0049] The working principles of the controller, the six-axis robotic arm 2, the grinding assembly 21, the grinding head housing mechanism 3, the cleaning agent spraying assembly 22, and the air blowing assembly 23 are explained below.

[0050] First, when cleaning the mold is required, the operator fixes the mold to be processed in the placement area 12, starts the controller, and the controller begins to execute the control program (referring to the complete execution action program applicable to the current mold processing). The six-axis robotic arm 2 begins to move, and at the same time, the controller controls the tool end bearing seat 4 of the six-axis robotic arm 2 to rotate until the nozzle 222 rotates to point above the mold. The controller starts the nozzle 222, and at the same time, the tool end of the six-axis robotic arm 2 moves along the upper part of the mold according to the set path to start spraying cleaning liquid on the mold surface. After the spraying liquid is completed, the controller controls the nozzle 222 to stop working.

[0051] Furthermore, the controller then controls the tool end bearing support 4 of the six-axis robotic arm 2 to move towards the vicinity of the two sets of grinding head discs 32. At the same time, the second servo motor starts working, driving the two sets of grinding head discs 32 to rotate along the stand 11 until the grinding head 321 required for this mold processing approaches the tool end of the six-axis robotic arm 2. The pneumatic chuck 211 of the tool end of the six-axis robotic arm 2 moves towards the grinding head disc 32. When the pneumatic chuck 211 approaches the grinding head disc 32, the controller controls the six-axis robotic arm 2 and the pneumatic chuck 211 to work together to engage the grinding head 321 on the current pneumatic chuck 211 into the buckle 5, and remove the grinding head 321 required for processing the current mold along the buckle 5. The pneumatic chuck 211 then locks the current grinding head 321.

[0052] After the pneumatic chuck 211 fixes the grinding head 321, the controller starts to control the first servo motor 212 to start working and controls the tool end of the six-axis robotic arm 2 to move closer to the mold. The grinding head 321 is used to grind the mold, and a new grinding head 321 is automatically replaced to grind the mold again until the grinding process of the mold is completed.

[0053] Subsequently, the controller stops the first servo motor 212 and drives the six-axis robotic arm 2 to move again until the nozzle 222 is above the mold. The controller then controls the nozzle 222 and the six-axis robotic arm 2 to work together to blow the debris generated after grinding along the surface of the mold.

[0054] The implementation principle of the mold cleaning device in this application embodiment is as follows: the tool end of the six-axis robotic arm 2 can move along any spatial coordinate within a set three-dimensional space range, thereby realizing the movement of the grinding component 21, the cleaning agent spraying component 22, and the air blowing component 23 within the spatial range. The grinding component 21 grinds the mold located on the frame 1, the cleaning agent spraying component 22 sprays cleaning liquid onto the mold, and the air blowing component 23 cleans foreign objects on the mold. At the same time, since the grinding head disk 32 is provided with several grinding heads 321, the two sets of grinding head disks 32 are driven to rotate along the frame 1 by the drive component 31. When it is necessary to replace the grinding head 321, the six-axis robotic arm 2 drives the pneumatic chuck 211 to move towards the two sets of grinding head disks 32, so that the grinding head 321 can be replaced. The operation is simple and does not require multiple sets of robotic arms to cooperate to achieve the above functions. The mechanical structure is simple and plays a positive guiding role in improving the efficiency of mold cleaning.

[0055] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mold cleaning device, comprising a frame (1) and a six-axis robotic arm (2) mounted on the frame (1), wherein the six-axis robotic arm (2) moves along arbitrary spatial coordinates within a set three-dimensional spatial range, and a grinding component (21) is provided on the tool end of the six-axis robotic arm (2), the grinding component (21) being used to grind the mold placed on the frame (1), characterized in that: The frame (1) is provided with a grinding head receiving mechanism (3). The grinding head receiving mechanism (3) includes a drive assembly (31) and two sets of grinding head discs (32). The drive assembly (31) is used to drive the two sets of grinding head discs (32) to rotate along the frame (1). The two sets of grinding head discs (32) are respectively equipped with a plurality of grinding heads (321) in the circumferential direction. The grinding assembly (21) includes a pneumatic chuck (211). The pneumatic chuck (211) is used to clamp the grinding head (321), or to place the grinding head (321) on the pneumatic chuck (211) on the grinding head disc (32). The tool end of the six-axis robotic arm (2) is also provided with a cleaning agent spraying assembly (22) and an air blowing assembly (23). The cleaning agent spraying assembly (22) is used to spray cleaning liquid onto the mold, and the air blowing assembly (23) is used to blow compressed air onto the mold.

2. The mold cleaning device according to claim 1, characterized in that: The tool end of the six-axis robotic arm (2) is provided with a support seat (4). The grinding component (21), the cleaning agent spraying component (22), and the air blowing component (23) are arranged in sequence along the circumference of the support seat (4), and the included angle between the grinding component (21), the cleaning agent spraying component (22), and the air blowing component (23) is 120°.

3. The mold cleaning device according to claim 2, characterized in that: The grinding head disc (32) is provided with a plurality of buckles (5) along the circumferential direction of its outer wall, and the grinding head (321) is engaged with the buckles (5).

4. The mold cleaning device according to claim 3, characterized in that: The frame (1) is provided with a support frame (11), and the two sets of grinding head discs (32) are symmetrically rotated about the support frame (11) and supported on the support frame (11). The drive assembly (31) is used to drive the two sets of grinding head discs (32) to rotate synchronously along the support frame (11).

5. A mold cleaning device according to claim 4, characterized in that: The surface of the grinding head disk (32) is provided with several weight-reducing grooves (322) along the circumferential direction.

6. A mold cleaning device according to claim 5, characterized in that: The grinding head (321) has a slot (6) and the buckle (5) has a guide boss (7) which engages with the slot (6).

7. A mold cleaning device according to claim 6, characterized in that: The air blowing assembly (23) includes a first mounting plate (231) and an air nozzle (232). The air nozzle (232) is connected to an external air passage. The first mounting plate (231) is disposed on the side wall of the support seat (4). A waist-shaped groove (8) is provided on the first mounting plate (231) along the length direction. The air nozzle (232) is fixed to the first mounting plate (231) along the waist-shaped groove (8) with bolts.

8. A mold cleaning device according to any one of claims 1-7, characterized in that: It also includes a controller that is electrically connected to the six-axis robotic arm (2), the grinding assembly (21), the grinding head housing mechanism (3), the cleaning agent spraying assembly (22), and the air blowing assembly (23).

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