Flexible automatic mechanical hand dry ice cleaning equipment

Abstract

The utility model discloses a flexible automatic mechanical hand dry ice cleaning equipment, including base, its characterized in that the top of base places workpiece support plate, the top of workpiece support plate places workpiece body, the top fixed connection of base has dry ice machine, the top fixed communication of dry ice machine has first connecting pipe, the top fixed communication of dry ice machine has second connecting pipe, the tail end fixed communication of second connecting pipe has cleaning spray head, the top of base is equipped with moving assembly. The utility model discloses through moving assembly drive mechanical hand base, flexible mechanical hand and cleaning spray head whole removal, breaks through the limitation of traditional equipment cleaning range fixed, can easily cover workpiece larger area, through the multi -joint cooperation of flexible mechanical hand of motion, can go into workpiece complex curved surface, deep cavity and corner area, need not multiple clamping or manual supplementary washing, and the cleaning operation efficiency is improved greatly.

Description

Technical Field

[0001] This utility model relates to the field of dry ice cleaning technology, and in particular to a flexible automatic robotic dry ice cleaning device. Background Technology

[0002] Dry ice cleaning technology, as an efficient and environmentally friendly surface treatment method, has been widely used in fields such as machinery manufacturing, automobile repair, and electronic equipment due to the fact that dry ice leaves no residue and does not damage the substrate after sublimation. Its core principle is to use high-speed jets of dry ice particles to impact and peel off the surface of the workpiece to remove contaminants such as oil, rust, and coatings.

[0003] Traditional robotic arms have fixed or insufficient adjustment paths, making it difficult to cover complex curved surfaces, deep cavities, corners, and other areas of the workpiece. For irregularly shaped workpieces, multiple clamping or manual assistance is often required for cleaning, resulting in low cleaning efficiency. To solve the above problems, this application proposes a flexible automatic robotic arm dry ice cleaning device. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flexible automatic robotic dry ice cleaning device. This device uses a moving component to move the robotic base, flexible robotic arm, and cleaning nozzle as a whole, breaking through the limitations of the fixed cleaning range of traditional equipment and easily covering a larger area of ​​the workpiece. Through the coordinated movement of the multiple joints of the flexible robotic arm, it can penetrate into complex curved surfaces, deep cavities, and corners of the workpiece without the need for multiple clamping or manual re-cleaning, thus greatly improving the efficiency of the cleaning operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A flexible automatic robotic dry ice cleaning device includes a base, a workpiece support plate placed on top of the base, a workpiece body placed on top of the workpiece support plate, a dry ice maker fixedly connected to the top of the base, a first connecting pipe fixedly connected to the top of the dry ice maker, a second connecting pipe fixedly connected to the top of the dry ice maker, a cleaning nozzle fixedly connected to the end of the second connecting pipe, a moving component mounted on the top of the base, a robotic arm base mounted on the top of the moving component, a flexible robotic arm mounted on the top of the robotic arm base, and the end of the flexible robotic arm connected to the cleaning nozzle.

[0006] Preferably, the flexible manipulator includes a first rotating arm, a first motor, a second motor, a second rotating arm, a third motor, a third rotating arm, a fourth motor, and a fourth rotating arm. The first rotating arm is disposed on the top of the manipulator base and rotatably connected thereto. The first motor is disposed on the top of the first rotating arm and fixedly connected thereto. The end of the output shaft of the first motor is fixedly connected to the top of the manipulator base. The second motor is disposed on the side wall of the first rotating arm and fixedly connected thereto. The end of the output shaft of the second motor is fixedly connected to the side wall of the second rotating arm. The top of the second rotating arm is rotatably connected to the third rotating arm. The side wall of the third rotating arm is fixedly connected to the third motor. The end of the output shaft of the third motor is fixedly connected to the side wall of the second rotating arm. The end of the third rotating arm is rotatably connected to the fourth rotating arm. The side wall of the fourth rotating arm is fixedly connected to the fourth motor. The output shaft of the fourth motor passes through the third rotating arm and is fixedly connected thereto.

[0007] Preferably, the moving component includes two parallel guide rails and a conveying mechanism. The two guide rails are disposed on the top of the base and fixedly connected thereto. The robotic arm base is sleeved on the two guide rails and slidably connected thereto. The conveying mechanism connects the base and the robotic arm base.

[0008] Preferably, the output shaft of the first motor passes through and is rotatably connected to the first rotating arm, the output shaft of the second motor passes through and is rotatably connected to the first rotating arm, the output shaft of the third motor passes through and is rotatably connected to the third rotating arm, and the output shaft of the fourth motor passes through and is rotatably connected to the fourth rotating arm.

[0009] Preferably, the conveying mechanism includes two pairs of columns, two drive rollers, a synchronous belt, and a motor. The two pairs of columns are disposed on the top of the base and fixedly connected thereto. Each drive roller is disposed between a pair of columns and rotatably connected thereto. The synchronous belt is sleeved on the outer wall of the two drive rollers and is fixedly connected to the bottom of the robot base. The motor is disposed on the side wall of one of the columns and fixedly connected thereto. The output shaft of the motor passes through the column and is rotatably connected thereto. The output shaft of the motor is coaxially fixedly connected to one of the drive rollers.

[0010] Preferably, both the first connecting pipe and the second connecting pipe are retractable flexible hoses.

[0011] Compared with the prior art, the advantages of this utility model are as follows: 1. By moving the robot base, flexible robot, and cleaning nozzle together through the moving components, the limitations of the fixed cleaning range of traditional equipment are broken, and a larger area of ​​the workpiece can be easily covered. At the same time, the multi-joint coordinated movement of the flexible robot can penetrate into the complex curved surfaces, deep cavities and corners of the workpiece without the need for multiple clamping or manual cleaning, which greatly improves the efficiency of cleaning operations.

[0012] 2. Each rotating arm in the flexible robotic arm achieves multi-dimensional rotation under the drive of the corresponding motor, which can precisely adjust the spatial position and posture of the cleaning nozzle to ensure that it always acts on the workpiece surface with the best spray angle and distance. Even when facing workpieces with height differences or irregular structures, it can ensure the consistency of cleaning effect and effectively avoid the problem of incomplete cleaning caused by improper angle.

[0013] In summary, by moving the robot base, flexible robot, and cleaning nozzle as a whole, the limitations of the fixed cleaning range of traditional equipment are overcome by using the moving components, which can easily cover a larger area of ​​the workpiece. Through the multi-joint coordinated movement of the flexible robot, it can reach into the complex curved surfaces, deep cavities, and corners of the workpiece without the need for multiple clamping or manual re-washing, which greatly improves the efficiency of cleaning operations. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a flexible automatic robotic dry ice cleaning device proposed in this utility model; Figure 2 This is a first structural schematic diagram of a flexible automatic robotic dry ice cleaning device proposed in this utility model; Figure 3 This is a schematic diagram of the second structure of a flexible automatic robotic dry ice cleaning device proposed in this utility model.

[0015] In the figure: 1 base, 2 workpiece support plate, 3 workpiece body, 4 first connecting pipe, 5 dry ice maker, 6 second connecting pipe, 7 cleaning nozzle, 8 flexible robot arm, 9 robot arm base, 10 moving component, 11 first rotating arm, 12 first motor, 13 second motor, 14 second rotating arm, 15 third motor, 16 third rotating arm, 17 fourth motor, 18 fourth rotating arm. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] Reference Figures 1-3A flexible automatic robotic dry ice cleaning device includes a base 1, which provides stable support for the entire device. All components are directly or indirectly mounted on the base 1. A workpiece support plate 2 is placed on top of the base 1, and a workpiece body 3 is placed on top of the workpiece support plate 2. The workpiece support plate 2 is used to support and position the workpiece body 3, ensuring the stability of the workpiece position during the cleaning process. A dry ice maker 5 is fixedly connected to the top of the base 1. The dry ice maker 5 is the core component of the device, responsible for converting the input carbon dioxide into dry ice crystals. The top of the dry ice maker 5 is fixedly connected to a first... The first connecting pipe 4 serves as a carbon dioxide delivery channel, connecting an external gas source to the dry ice maker 5. The top of the dry ice maker 5 is fixedly connected to the second connecting pipe 6, which is used to transport the dry ice crystals generated by the dry ice maker 5 to the cleaning nozzle 7. Both the first connecting pipe 4 and the second connecting pipe 6 are retractable hoses that can flexibly deform with the movement of the flexible manipulator 8 to avoid pipe tangling or breakage. The end of the second connecting pipe 6 is fixedly connected to the cleaning nozzle 7, which sprays the dry ice crystals at high speed to achieve cleaning of the surface of the workpiece body 3.

[0018] A moving component 10 is installed on the top of the base 1. The moving component 10 can drive the entire robot arm to move horizontally along the guide rail direction, expanding the cleaning coverage area. The moving component 10 includes two parallel guide rails and a conveying mechanism. The guide rails provide guidance for the movement of the robot arm base 9, ensuring that it moves smoothly along a predetermined trajectory. The conveying mechanism includes two pairs of columns, two drive rollers, a synchronous belt, and a motor. The two pairs of columns are located on the top of the base 1 and are fixedly connected to it. Each drive roller is located between a pair of columns and is rotatably connected to them. The drive rollers rotate under the drive of the motor, driving the synchronous belt to achieve reciprocating motion. The synchronous belt is sleeved on the outer wall of the two drive rollers. Through its connection with the robot arm base 9, the synchronous belt converts the rotational motion of the drive rollers into the linear motion of the robot arm base 9. The synchronous belt is fixedly connected to the bottom of the robot arm base 9. The motor is mounted on the side wall of a column and fixedly connected to it. The output shaft of the motor passes through the column and is rotatably connected to it. The output shaft of the motor is coaxially fixedly connected to one of the transmission rollers. The motor provides power to the conveying mechanism and drives the transmission roller to rotate. Two guide rails are mounted on the top of the base 1 and fixedly connected to it. The robotic arm base 9 is sleeved on the two guide rails and slidably connected to them. The robotic arm base 9 carries the flexible robotic arm 8 and achieves translation under the coordinated action of the guide rails and the synchronous belt. The conveying mechanism connects the base 1 and the robotic arm base 9. The robotic arm base 9 is mounted on the top of the moving component 10. The flexible robotic arm 8 is mounted on the top of the robotic arm base 9. The end of the flexible robotic arm 8 is connected to the cleaning nozzle 7. The flexible robotic arm 8 precisely adjusts the spatial position and posture of the cleaning nozzle 7 through multi-joint coordinated movement.

[0019] The flexible robotic arm 8 includes a first rotating arm 11, a first motor 12, a second motor 13, a second rotating arm 14, a third motor 15, a third rotating arm 16, a fourth motor 17, and a fourth rotating arm 18. The first rotating arm 11 is mounted on top of and rotatably connected to the robotic arm base 9, and can rotate relative to the robotic arm base 9, providing the entire robotic arm with a horizontal rotational degree of freedom. The first motor 12 is mounted on top of and fixedly connected to the first rotating arm 11, and its output shaft passes through and is rotatably connected to it. The end of the output shaft of the first motor 12 is fixedly connected to the top of the robotic arm base 9. The second motor 13 is mounted on and fixedly connected to the side wall of the first rotating arm 11, and its output shaft passes through and is rotatably connected to it. The second motor 13 drives the second rotating arm 14 to rotate relative to the first rotating arm 11, adjusting the extension angle of the robotic arm. The end of the output shaft of the second motor 17 is fixedly connected to the second rotating arm 18. The side wall of the rotating arm 14 is fixedly connected, and the top of the second rotating arm 14 is rotatably connected to the third rotating arm 16. The third rotating arm 16 can rotate relative to the second rotating arm 14 to further expand the range of motion of the robot. The side wall of the third rotating arm 16 is fixedly connected to the third motor 15. The output shaft of the third motor 15 passes through the third rotating arm 16 and is rotatably connected to it. The end of the output shaft of the third motor 15 is fixedly connected to the side wall of the second rotating arm 14. The end of the third rotating arm 16 is rotatably connected to the fourth rotating arm 18. The fourth rotating arm 18, as the end effector of the robot, is directly connected to the cleaning nozzle 7 and adjusts its orientation. The side wall of the fourth rotating arm 18 is fixedly connected to the fourth motor 17. The output shaft of the fourth motor 17 passes through the fourth rotating arm 18 and is rotatably connected to it. The output shaft of the fourth motor 17 passes through the third rotating arm 16 and is fixedly connected to it. The fourth motor 17 drives the fourth rotating arm 18 to rotate relative to the third rotating arm 16, precisely controlling the spray angle of the cleaning nozzle 7.

[0020] In this invention, carbon dioxide can be injected into the dry ice maker 5 through the first connecting pipe 4. The dry ice maker 5 can then produce dry ice crystals from the carbon dioxide and transmit them to the cleaning nozzle 7 through the second connecting pipe 6. The cleaning nozzle 7 can then spray out the dry ice crystals to clean the surface of the workpiece body 3. Since the dry ice sublimates into gas at room temperature, it will not contaminate the surface of the workpiece body 3. The moving component 10 can move the robotic arm base 9, the flexible robotic arm 8, and the cleaning nozzle 7, thereby increasing the cleaning range of the workpiece body 3. Starting the first motor 12 drives the first rotating arm 11 to rotate on the robotic arm base 9 through the output shaft of the first motor 12. Starting the second motor 13 drives the second rotating arm 14 to rotate on the first rotating arm 11 through the output shaft of the second motor 13. Starting the third motor 15 drives the third rotating arm 16 to rotate on the second rotating arm 14 through the output shaft of the third motor 15. Starting the fourth motor 17 drives the fourth rotating arm 18 to rotate on the third rotating arm 16 through the output shaft of the fourth motor 17. The position of the cleaning nozzle 7 can be adjusted to perform a comprehensive cleaning operation on the surface of the workpiece body 3.

Claims

1. A flexible automatic robotic dry ice cleaning device, comprising a base (1), characterized in that, The workpiece support plate (2) is placed on the top of the base (1), and the workpiece body (3) is placed on the top of the workpiece support plate (2). A dry ice maker (5) is fixedly connected to the top of the base (1). A first connecting pipe (4) is fixedly connected to the top of the dry ice maker (5). A second connecting pipe (6) is fixedly connected to the top of the dry ice maker (5). A cleaning nozzle (7) is fixedly connected to the end of the second connecting pipe (6). A moving component (10) is installed on the top of the base (1). A robot arm base (9) is installed on the top of the moving component (10). A flexible robot arm (8) is installed on the top of the robot arm base (9). The end of the flexible robot arm (8) is connected to the cleaning nozzle (7).

2. The flexible automatic robotic dry ice cleaning equipment according to claim 1, characterized in that, The flexible robotic arm (8) includes a first rotating arm (11), a first motor (12), a second motor (13), a second rotating arm (14), a third motor (15), a third rotating arm (16), a fourth motor (17), and a fourth rotating arm (18). The first rotating arm (11) is mounted on the top of the robotic arm base (9) and rotatably connected thereto. The first motor (12) is mounted on the top of the first rotating arm (11) and fixedly connected thereto. The output shaft end of the first motor (12) is fixedly connected to the top of the robotic arm base (9). The second motor (13) is mounted on the side wall of the first rotating arm (11) and fixed thereto. The output shaft of the second motor (13) is fixedly connected to the side wall of the second rotating arm (14). The top of the second rotating arm (14) is rotatably connected to the third rotating arm (16). The side wall of the third rotating arm (16) is fixedly connected to the third motor (15). The output shaft of the third motor (15) is fixedly connected to the side wall of the second rotating arm (14). The end of the third rotating arm (16) is rotatably connected to the fourth rotating arm (18). The side wall of the fourth rotating arm (18) is fixedly connected to the fourth motor (17). The output shaft of the fourth motor (17) passes through the third rotating arm (16) and is fixedly connected to it.

3. The flexible automatic robotic dry ice cleaning equipment according to claim 1, characterized in that, The moving component (10) includes two parallel guide rails and a conveying mechanism. The two guide rails are set on the top of the base (1) and fixedly connected thereto. The robotic arm base (9) is sleeved on the two guide rails and slidably connected thereto. The conveying mechanism connects the base (1) and the robotic arm base (9).

4. The flexible automatic robotic dry ice cleaning equipment according to claim 2, characterized in that, The output shaft of the first motor (12) passes through the first rotating arm (11) and is rotatably connected to it. The output shaft of the second motor (13) passes through the first rotating arm (11) and is rotatably connected to it. The output shaft of the third motor (15) passes through the third rotating arm (16) and is rotatably connected to it. The output shaft of the fourth motor (17) passes through the fourth rotating arm (18) and is rotatably connected to it.

5. The flexible automatic robotic dry ice cleaning equipment according to claim 3, characterized in that, The conveying mechanism includes two pairs of columns, two transmission rollers, a synchronous belt and a motor. The two pairs of columns are set on the top of the base (1) and fixedly connected to it. Each transmission roller is set between a pair of columns and rotatably connected to them. The synchronous belt is sleeved on the outer wall of the two transmission rollers. The synchronous belt is fixedly connected to the bottom of the robot base (9). The motor is set on the side wall of one of the columns and fixedly connected to it. The output shaft of the motor passes through the column and is rotatably connected to it. The output shaft of the motor is coaxially fixedly connected to one of the transmission rollers.

6. The flexible automatic robotic dry ice cleaning equipment according to claim 1, characterized in that, Both the first connecting pipe (4) and the second connecting pipe (6) are retractable hoses.

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